Regular Papers
International Journal of Control, Automation and Systems 2005; 3(3): 444-452
© The International Journal of Control, Automation, and Systems
Implementation of Tracking and Capturing a Moving Object using a Mobile Robot
A new scheme for a mobile robot to track and capture a moving object using camera images is proposed. The moving object is assumed to be a point-object and is projected onto an image plane to form a geometrical constraint equation that provides the position data of the object based on the kinematics of the active camera. Uncertainties in position estimation caused by the point-object assumption are compensated for using the Kalman filter. To generate the shortest time path to capture the moving object, the linear and angular velocities are estimated and utilized. In this paper, the experimental results of the tracking and capturing of a target object with the mobile robot are presented.
Keywords Mobile robot, Kalman filter, tracking & capturing, active camera.
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Regular Papers
International Journal of Control, Automation and Systems 2005; 3(3): 444-452
Published online September 1, 2005
Copyright © The International Journal of Control, Automation, and Systems.
Implementation of Tracking and Capturing a Moving Object using a Mobile Robot
Sang-joo Kim, Jin-woo Park, and Jang-Myung Lee
Pusan National University, Korea
Abstract
A new scheme for a mobile robot to track and capture a moving object using camera images is proposed. The moving object is assumed to be a point-object and is projected onto an image plane to form a geometrical constraint equation that provides the position data of the object based on the kinematics of the active camera. Uncertainties in position estimation caused by the point-object assumption are compensated for using the Kalman filter. To generate the shortest time path to capture the moving object, the linear and angular velocities are estimated and utilized. In this paper, the experimental results of the tracking and capturing of a target object with the mobile robot are presented.
Keywords: Mobile robot, Kalman filter, tracking & capturing, active camera.
Vol. 22, No. 9, pp. 2673~2953
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