Journal of information and communication convergence engineering

  • 제8권2호
  • /
  • Pages.145-149
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  • 2010
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  • 2234-8255(pISSN)
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  • 2234-8883(eISSN)
한국정보통신학회 (The Korea Institute of Information and Commucation Engineering)
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Kinematic Method of Camera System for Tracking of a Moving Object

  • Jin, Tae-Seok (Department of Mechatronics Engineering, DongSeo University)
  • 투고 : 2010.02.24
  • 심사 : 2010.03.25
  • 발행 : 2010.04.30
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초록

In this paper, we propose a kinematic approach to estimating the real-time moving object. A new scheme for a mobile robot to track and capture a moving object using images of a camera is proposed. The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the active camera. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time path to capture the moving object, the linear and angular velocities are estimated and utilized. The experimental results of tracking and capturing of the target object with the mobile robot are presented.

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참고문헌

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피인용 문헌

  1. 인간행동제약을 위한 레이저파인더 기반의 로봇주행제어 vol.17, pp.5, 2013, https://doi.org/10.6109/jkiice.2013.17.5.1070