Real-Time LQG Robotic Visual Tracking
Conference Paper, Proceedings of European Robotics and Intelligent Systems Conference (EURISCON '91), pp. 305 - 312, June, 1991
Abstract
In this paper, a modified LQG technique is proposed for the solution of the robotic visual tracking problem (eye-in-hand configuration). The problem of robotic visual tracking is formulated as a problem of combining control with computer vision. A cross-correlation method provides the object's motion measurements which are used to update the system's measurement vector. These measurements are fed to a discrete steady state Kalman filter that calculates the estimated values of the system's states and of the exogenous disturbances. Then, a discrete LQG controller computes the desired motion of the robotic system. Experimental results are presented to show the effectiveness of the approach.
BibTeX
@conference{Papanikolopoulos-1991-13267,author = {N. P. Papanikolopoulos and Pradeep Khosla},
title = {Real-Time LQG Robotic Visual Tracking},
booktitle = {Proceedings of European Robotics and Intelligent Systems Conference (EURISCON '91)},
year = {1991},
month = {June},
pages = {305 - 312},
}
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