NDLI: Control issues to improve visual control of motion: applications in active tracking of moving targets

Content Provider	IEEE Xplore Digital Library
Author	Barreto, J.P. Batista, J. Araujo, H. Almeida, A.T.
Copyright Year	2000
Description	Author affiliation: Dept. of Electr. Eng., Coimbra Univ., Portugal (Barreto, J.P.) This paper deals with active tracking of 3D moving targets. Tracking is based on different visual behaviors, namely smooth pursuit and vergence control. The performance and robustness in visual control of motion depends both on the vision algorithms and the control structure. In this work we evaluate these two aspects, characterize the delays, and discuss ways to cope with latency while improving system performance. Kalman filtering is used to achieve smooth behaviors and increase visual processing robustness. A specific Kalman filter structure is proposed and its tuning and initialization are discussed. Delays and system latencies substantially affect the performance of visually guided systems. Interpolation is used to cope with visual processing delays. Model predictive control strategies are proposed to compensate for the mechanical latency in visual control of motion.
Starting Page	13
Ending Page	18
File Size	612095
Page Count	6
File Format	PDF
ISBN	0780359763
DOI	10.1109/AMC.2000.862818
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-03-30
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion control Target tracking Robust control System performance Kalman filters Filtering Robustness Delay systems Interpolation Predictive models
Content Type	Text
Resource Type	Article

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