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2-D VISUAL SERVOING WITH INTEGRATION OF MULTIPLE PREDICTIONS OF MOVEMENT BASED ON KALMAN FILTER
Jorge Pomares Baeza
Fernando Torres Medina
Pablo Gil Vázquez
Automatics, Robotics and Computer Vision Group (http://www.disc.ua.es/gava)
Physics, Systems Engineering and Signal Theory Department
University of Alicante
Crtra. San Vicente, s/n, 03080 Alicante
In this paper, a visual servoing for the tracking of objects in a plane using a fixed camera system is shown. The method proposed of tracking makes use of a variable number of trackers determined automatically. The integration of the predictions of each of them affords a flexible and robust system of tracking. The studies of efficiency carried out reflect that the delays produced are suitable for use in visual servoing. The proposed system can be generalized to tracking three-dimensional objects with movable cameras
Keywords: Tracking, Visual motion, Automatic control (closed-loop), Delay analysis, Estimation algorithms, Image processing, Prediction methods
Session slot T-Fr-M05: Computer Aided Control Design Methodologies/Area code 5c : Computer Aided Control Systems Design
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