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

2007

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 Harvard Style

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 2: ICINCO, ISBN 978-972-8865-83-2, pages 133-140. DOI: 10.5220/0001643201330140


in Bibtex Style

@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 2: ICINCO,},
year={2007},
pages={133-140},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001643201330140},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - IMPROVEMENT OF THE VISUAL SERVOING TASK WITH A NEW TRAJECTORY PREDICTOR - The Fuzzy Kalman Filter
SN - 978-972-8865-83-2
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