IMPROVEMENT OF THE VISUAL SERVOING TASK WITH A NEW TRAJECTORY PREDICTOR - The Fuzzy Kalman Filter

C. Pérez; N. García; J. M. Sabater; J. M. Azorín; O. Reinoso; L. Gracia

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Paper

IMPROVEMENT OF THE VISUAL SERVOING TASK WITH A NEW TRAJECTORY PREDICTOR - The Fuzzy Kalman Filter

Topics: Image Processing

In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, 133-140, 2007 , Angers, France

Authors: C. Pérez ¹ ; N. García ¹ ; J. M. Sabater ¹ ; J. M. Azorín ¹ ; O. Reinoso ¹ and L. Gracia ²

Affiliations: ¹ Miguel Hernández University, Spain ; ² Technical University of Valencia, Spain

Keyword(s): Visual servoing, fuzzy systems, vision / image processing, Kalman filter.

Related Ontology Subjects/Areas/Topics: Image Processing ; Informatics in Control, Automation and Robotics ; Robotics and Automation

Abstract: Visual Servoing is an important issue in robotic vision but one of the main problems is to cope with the delay introduced by acquisition and image processing. This delay is the reason for the limited velocity and acceleration of tracking systems. The use of predictive techniques is one of the solutions to solve this problem. In this paper, we present a Fuzzy predictor. This predictor decreases the tracking error compared with the classic Kalman filter (KF) for abrupt changes of direction and can be used for an unknown object’s dynamics. The Fuzzy predictor proposed in this work is based on several cases of the Kalman filtering, therefore, we have named it: Fuzzy Kalman Filter (FKF). The robustness and feasibility of the proposed algorithm is validated by a great number of experiments and is compared with other robust methods.

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Paper citation in several formats:

Pérez, C.; García, N.; M. Sabater, J.; M. Azorín, J.; Reinoso, O. and Gracia, L. (2007). IMPROVEMENT OF THE VISUAL SERVOING TASK WITH A NEW TRAJECTORY PREDICTOR - The Fuzzy Kalman Filter. In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO; ISBN 978-972-8865-83-2; ISSN 2184-2809, SciTePress, pages 133-140. DOI: 10.5220/0001643201330140

@conference{icinco07,
author={C. Pérez. and N. García. and J. {M. Sabater}. and J. {M. Azorín}. and O. Reinoso. and L. Gracia.},
title={IMPROVEMENT OF THE VISUAL SERVOING TASK WITH A NEW TRAJECTORY PREDICTOR - The Fuzzy Kalman Filter},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO},
year={2007},
pages={133-140},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001643201330140},
isbn={978-972-8865-83-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - IMPROVEMENT OF THE VISUAL SERVOING TASK WITH A NEW TRAJECTORY PREDICTOR - The Fuzzy Kalman Filter
SN - 978-972-8865-83-2
IS - 2184-2809
AU - Pérez, C.
AU - García, N.
AU - M. Sabater, J.
AU - M. Azorín, J.
AU - Reinoso, O.
AU - Gracia, L.
PY - 2007
SP - 133
EP - 140
DO - 10.5220/0001643201330140
PB - SciTePress