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Condition monitoring for image-based visual servoing using Kalman filter
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Mien, Van, Wu, Denglu, Ge, Shuzhi Sam and Ren, Hongliang (2015) Condition monitoring for image-based visual servoing using Kalman filter. In: Bebis, George, (ed.) Advances in Visual Computing. Lecture Notes in Computer Science, 9475 . Switzerland: Springer International Publishing, pp. 842-850. ISBN 9783319278629
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Official URL: http://dx.doi.org/10.1007/978-3-319-27863-6_79
Abstract
In image-based visual servoing (IBVS), the control law is based on the error between the current and desired features on the image plane. The visual servoing system is working well only when all the designed features are correctly extracted. To monitor the quality of feature extraction, in this paper, a condition monitoring scheme is developed. First, the failure scenarios of the visual servoing system caused by incorrect feature extraction are reviewed. Second, we propose a residual generator, which can be used to detect if a failure occurs, based on the Kalman filter. Finally, simulation results are given to verify the effectiveness of the proposed method.
| Item Type: | Book Item | ||||
|---|---|---|---|---|---|
| Alternative Title: | Book subtitle : 11th International Symposium, ISVC 2015, Las Vegas, NV, USA, December 14-16, 2015, Proceedings, Part II | ||||
| Divisions: | Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group) | ||||
| Series Name: | Lecture Notes in Computer Science | ||||
| Journal or Publication Title: | Advances in Visual Computing: | ||||
| Publisher: | Springer International Publishing | ||||
| Place of Publication: | Switzerland | ||||
| ISBN: | 9783319278629 | ||||
| ISSN: | 0302-9743 | ||||
| Book Title: | Advances in Visual Computing | ||||
| Editor: | Bebis, George | ||||
| Official Date: | 18 December 2015 | ||||
| Dates: |
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| Volume: | 9475 | ||||
| Number of Pages: | 856 | ||||
| Page Range: | pp. 842-850 | ||||
| DOI: | 10.1007/978-3-319-27863-6_79 | ||||
| Status: | Peer Reviewed | ||||
| Publication Status: | Published | ||||
| Access rights to Published version: | Restricted or Subscription Access | ||||
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