Based on Kalman Filter the Mobile Manipulator Non-calibration Free Dynamic Target Tracking Technology Research

被引：4

作者：

Sun, Lingyu ^{[1
]}

Zhang, Minglu ^{[1
]}

机构：

[1] Hebei Univ Technol, Sch Mech Engn, Tianjin, Peoples R China

来源：

ICECT: 2009 INTERNATIONAL CONFERENCE ON ELECTRONIC COMPUTER TECHNOLOGY, PROCEEDINGS | 2009年

关键词：

Un-calibrate; Target recognition; Kalman filter;

D O I：

10.1109/ICECT.2009.62

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

This paper presents the un-calibrated vision servo control algorithm to track the target with mobile manipulator. Color histogram distance calculation methods and shape matching method are discussed to recognize the target The on-line estimation algorithm for Image Jacobian matrix model is designed based on the Kalman filter. With this Image Jacobian on-line estimator, the visual feedback controller is designed for the tasks of tracking target by tin-calibrated vision sensor. The efficiency of un-calibrated vision servo control algorithm has been verified by experiments on Hebut-II mobile robot.

引用

页码：610 / 614

页数：5

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