Construction of visual servo controller by Kalman filter and created window

Hideaki Minamide, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to conferencePaper

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
Pages359-364
Number of pages6
Publication statusPublished - 1996 Jan 1
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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Minamide, H., Murakami, T., & Ohnishi, K. (1996). Construction of visual servo controller by Kalman filter and created window. 359-364. Paper presented at Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2), Tsu, Jpn, .