Online-estimation of Image Jacobian based on adaptive Kalman filter

Songqing Liu, Shiyue Liu

科研成果: 书/报告/会议事项章节会议稿件同行评审

9 引用 (Scopus)

摘要

Focus on the uncalibrated visual servo, we established a filtering system based on Kalman Filter, and validated it by Matlab. Then we discussed the stability precondition of the control system with Kalman Filter in detail, and made a conclusion that if and only if the origin system is completely controllable and observable, the filtering system can converged to the expected position. Refer to the problem that we can't get the statistical information of the real system, we designed an adaptive Kalman filter and applied it in a real-time track task, and with the track error is within 5 pixel.

源语言英语
主期刊名Proceedings of the 34th Chinese Control Conference, CCC 2015
编辑Qianchuan Zhao, Shirong Liu
出版商IEEE Computer Society
6016-6019
页数4
ISBN(电子版)9789881563897
DOI
出版状态已出版 - 11 9月 2015
活动34th Chinese Control Conference, CCC 2015 - Hangzhou, 中国
期限: 28 7月 201530 7月 2015

出版系列

姓名Chinese Control Conference, CCC
2015-September
ISSN(印刷版)1934-1768
ISSN(电子版)2161-2927

会议

会议34th Chinese Control Conference, CCC 2015
国家/地区中国
Hangzhou
时期28/07/1530/07/15

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