A method for stereo-vision-based tracking for robotic applications

Pathirana, Pubudu N., Bishop, Adrian N., Savkin, Andrey V., Ekanayake, Samitha W. and Black,Timothy J. 2010, A method for stereo-vision-based tracking for robotic applications, Robotica, vol. 28, no. 4, pp. 517-524, doi: 10.1017/S0263574709005827.

Attached Files
Name Description MIMEType Size Downloads

Title A method for stereo-vision-based tracking for robotic applications
Author(s) Pathirana, Pubudu N.ORCID iD for Pathirana, Pubudu N. orcid.org/0000-0001-8014-7798
Bishop, Adrian N.
Savkin, Andrey V.
Ekanayake, Samitha W.
Black,Timothy J.
Journal name Robotica
Volume number 28
Issue number 4
Start page 517
End page 524
Total pages 8
Publisher Cambridge University Press
Place of publication Cambridge, England
Publication date 2010
ISSN 0263-5747
Keyword(s) linear filtering
stereo vision
robust filtering
target tracking
Summary Vision-based tracking of an object using perspective projection inherently results in non-linear measurement equations in the Cartesian coordinates. The underlying object kinematics can be modelled by a linear system. In this paper we introduce a measurement conversion technique that analytically transforms the non-linear measurement equations obtained from a stereo-vision system into a system of linear measurement equations.We then design a robust linear filter around the converted measurement system. The state estimation error of the proposed filter is bounded and we provide a rigorous theoretical analysis of this result. The performance of the robust filter developed in this paper is demonstrated via computer simulation and via practical experimentation using a robotic manipulator as a target. The proposed filter is shown to outperform the extended Kalman filter (EKF).
Notes This paper was also presented at : CDC 2008 : Proceedings of the 47th IEEE Conference on Decision and Control
Language eng
DOI 10.1017/S0263574709005827
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category C1 Refereed article in a scholarly journal
HERDC collection year 2010
Copyright notice ©2009, Cambridge University Press
Persistent URL http://hdl.handle.net/10536/DRO/DU:30030389

Connect to link resolver
Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved.

Version Filter Type
Citation counts: TR Web of Science Citation Count  Cited 2 times in TR Web of Science
Scopus Citation Count Cited 2 times in Scopus
Google Scholar Search Google Scholar
Access Statistics: 937 Abstract Views, 8 File Downloads  -  Detailed Statistics
Created: Tue, 28 Sep 2010, 15:40:29 EST by Sandra Dunoon

Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.