Construction of visual servo controller by Kalman filter and created window

Hideaki Minamide, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper describes a new strategy to realize visual servoing by window algorithm and Kalman filter. In visual servoing, disturbances in the image frame have a significant effect when the desired motion commands of the visual feedback controller is synthesized. To address the above issue, the specified windows which show each feature point in the image frame are introduced. Then the commands are calculated by only the information of the created windows. As a result, the motion to track the target objects are not affected even if the unknown objects appear in the image frame. The performance of the proposed algorithm is confirmed by several experimental results.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
PublisherIEEE
Pages359-364
Number of pages6
Volume1
Publication statusPublished - 1996
EventProceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) - Tsu, Jpn
Duration: 1996 Mar 181996 Mar 21

Other

OtherProceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2)
CityTsu, Jpn
Period96/3/1896/3/21

Fingerprint

Visual servoing
Kalman filters
Controllers
Feedback

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Minamide, H., Murakami, T., & Ohnishi, K. (1996). Construction of visual servo controller by Kalman filter and created window. In International Workshop on Advanced Motion Control, AMC (Vol. 1, pp. 359-364). IEEE.

Construction of visual servo controller by Kalman filter and created window. / Minamide, Hideaki; Murakami, Toshiyuki; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. Vol. 1 IEEE, 1996. p. 359-364.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Minamide, H, Murakami, T & Ohnishi, K 1996, Construction of visual servo controller by Kalman filter and created window. in International Workshop on Advanced Motion Control, AMC. vol. 1, IEEE, pp. 359-364, Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2), Tsu, Jpn, 96/3/18.
Minamide H, Murakami T, Ohnishi K. Construction of visual servo controller by Kalman filter and created window. In International Workshop on Advanced Motion Control, AMC. Vol. 1. IEEE. 1996. p. 359-364
Minamide, Hideaki ; Murakami, Toshiyuki ; Ohnishi, Kouhei. / Construction of visual servo controller by Kalman filter and created window. International Workshop on Advanced Motion Control, AMC. Vol. 1 IEEE, 1996. pp. 359-364
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