Vision-Based Humanoid Robot Control Using FIR Filter

被引：0

作者：

Kim, Kwan Soo ^{[1
]}

Kang, Hyun Ho ^{[1
]}

You, Sung Hyun ^{[1
]}

Ahn, Choon Ki ^{[1
]}

机构：

[1] Korea Univ, Sch Elect Engn, Seoul, South Korea

来源：

ADVANCES IN COMPUTER SCIENCE AND UBIQUITOUS COMPUTING | 2018年 / 474卷

基金：

新加坡国家研究基金会;

关键词：

Humanoid; Vision-based control; Visual tracking; Kalman filter; FIR filter; OBJECT TRACKING;

D O I：

10.1007/978-981-10-7605-3_205

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we propose a novel vision-based humanoid control method and visual tracking based on constant velocity (CV) model using the finite impulse response (FIR) filter. The proposed method has robust performance even if a sampling time or noise information is inaccurate. Furthermore, even when the movement of the detected ball or the ambient illuminance changes suddenly, the proposed method shows robust performance. The robust performance of the proposed method is verified through experimental results.

引用

页码：1289 / 1294

页数：6

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