Robot visual servo through trajectory estimation of a moving object using kalman filter

Authors:
Min-Soo Kim;Ji-Hoon Koh;Ho Quoc Phuong Nguyen;Hee-Jun Kang
Affiliations:
Graduate School of Electrical Engineering, University of Ulsan, Ulsan, South Korea;Graduate School of Electrical Engineering, University of Ulsan, Ulsan, South Korea;Graduate School of Electrical Engineering, University of Ulsan, Ulsan, South Korea;School of Electrical Engineering, University of Ulsan, Ulsan, South Korea
Venue:
ICIC'09 Proceedings of the 5th international conference on Emerging intelligent computing technology and applications
Year:
2009

Citing 3
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On motion planning in changing, partially predictable environments

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Trajectory estimation of a moving object using Kalman filter and Kohonen networks

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Abstract

In this paper, a robot visual servo control algorithm is proposed by combining the conventional image based robot visual servoing algorithm with a trajectory estimation algorithm of a moving object using Kalman filter. The erroneous image information of a moving object due to the imprecise camera characteristics is compensated by applying Kalman filter to the process model of a moving object. The robot visual servo control algorithm is simulated, implemented and discussed with a Samsung FARA AT-2 robot and a MV50 Camera for its effectiveness, in both cases of with/without a trajectory estimation algorithm of a moving object using Kalman filter.