Title :
Aplication of kalman predictor to robot visual servo
Author :
Zong, Xiao-ping ; Xu, Ya-tian
Author_Institution :
Coll. of Electron. & Informational Eng., Hebei Univ., Baoding, China
Abstract :
Feature detection is an important part in robot visual servo research. The traditional method is search the target on the whole image space, which leads to bad real-time performance as the large amounts of calculation. To solve the problem a prediction approach based on Kalman Filter is present. The global search can be converted to local search by forecasting the target position. Simulation results indicate that the method is an effective one and it has a high accuracy.
Keywords :
Kalman filters; robot vision; Kalman filter; Kalman predictor; feature detection; robot visual servo; Computer vision; Control systems; Covariance matrix; Kalman filters; Noise measurement; Orbital robotics; Prediction algorithms; Robot control; Servomechanisms; Target tracking; Kalman filter; PUMA560; Simulation; Visual servo;
Conference_Titel :
Machine Learning and Cybernetics, 2009 International Conference on
Conference_Location :
Baoding
Print_ISBN :
978-1-4244-3702-3
Electronic_ISBN :
978-1-4244-3703-0
DOI :
10.1109/ICMLC.2009.5212151
