DocumentCode :
2335026
Title :
Control issues to improve visual control of motion: applications in active tracking of moving targets
Author :
Barreto, Joao P ; Batista, Jorge ; Araujo, Helder ; Almeida, A.T.
Author_Institution :
Dept. of Electr. Eng., Coimbra Univ., Portugal
fYear :
2000
fDate :
1-1 April 2000
Firstpage :
13
Lastpage :
18
Abstract :
This paper deals with active tracking of 3D moving targets. Tracking is based on different visual behaviors, namely smooth pursuit and vergence control. The performance and robustness in visual control of motion depends both on the vision algorithms and the control structure. In this work we evaluate these two aspects, characterize the delays, and discuss ways to cope with latency while improving system performance. Kalman filtering is used to achieve smooth behaviors and increase visual processing robustness. A specific Kalman filter structure is proposed and its tuning and initialization are discussed. Delays and system latencies substantially affect the performance of visually guided systems. Interpolation is used to cope with visual processing delays. Model predictive control strategies are proposed to compensate for the mechanical latency in visual control of motion.
Keywords :
robot vision; Kalman filter initialization; Kalman filter tuning; Kalman filtering; active tracking; compensation; mechanical latency; model predictive control strategies; moving targets; robustness; smooth pursuit; vergence control; visual motion control; visual processing robustness;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Motion Control, 2000. Proceedings. 6th International Workshop on
Conference_Location :
Nagoya, Japan
Print_ISBN :
0-7803-5976-3
Type :
conf
DOI :
10.1109/AMC.2000.862818
Filename :
862818
Link To Document :
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