Browse > Article

Implementation of Tracking and Capturing a Moving Object using a Mobile Robot  

Kim Sang-joo (School of Electrical Engineering, Pusan National University)
Park Jin-woo (Institute of Information Technology Assessment(IITA))
Lee Jang-Myung (School of Electrical Engineering, Pusan National University)
Publication Information
International Journal of Control, Automation, and Systems / v.3, no.3, 2005 , pp. 444-452 More about this Journal
Abstract
A new scheme for a mobile robot to track and capture a moving object using camera images is proposed. The moving object is assumed to be a point-object and is projected onto an image plane to form a geometrical constraint equation that provides the position data of the object based on the kinematics of the active camera. Uncertainties in position estimation caused by the point-object assumption are compensated for using the Kalman filter. To generate the shortest time path to capture the moving object, the linear and angular velocities are estimated and utilized. In this paper, the experimental results of the tracking and capturing of a target object with the mobile robot are presented.
Keywords
Mobile robot; Kalman filter; tracking & capturing; active camera;
Citations & Related Records

Times Cited By Web Of Science : 1  (Related Records In Web of Science)
Times Cited By SCOPUS : 2
연도 인용수 순위
1 R. F. Berg, 'Estimation and prediction for maneuvering target trajectories,' IEEE Trans. on Automatic Control, vol. AC-28, no. 3, pp. 294-304, March 1983
2 R. E. Kalman, 'A new approach to linear filtering and prediction problems,' Trans, ASME, J. Basic Eng, vol. 82D, pp. 35-45, March 1960
3 M. Y. Han, B. K. Kim, K. H. Kim, and J. M. Lee, 'Active calibration of the robot/camera pose using the circular objects,' Trans. on Control, Automation and Systems Engineering, vol. 5, no. 3, pp. 314-323, April 1999
4 B. H. Kim, D. K. Roh, J. M. Lee, M. H. Lee, K. Son, M. C. Lee, J. W. Choi, and S. H. Han, 'Localization of a mobile robot using images of a moving target,' Proc. of the IEEE International Conference on Robotics & Automation, May 2001
5 H. Choset and K. Nagatani, 'Topological simultaneous localization and mapping (SLAM): Toward exact localization without explicit localization,' IEEE Trans. on Robotics and Automation, vol. 17, no. 2, pp. 125-137, April 2001   DOI   ScienceOn
6 N. Strobel, S. Spors, and R. Rabenstein, 'Joint audio-video object localization and tracking,' IEEE Signal Processing Magazine, vol. 18, no. 1, pp. 22-31, January 2001
7 R. G. Hutchins and J. P. C. Roque, 'Filtering and control of an autonomous underwater vehicle for both target intercept and docking,' Proc. of the 4th IEEE International Conference on Control Applications, pp. 1162-1163, 1995
8 D. Nair and J. K. Aggarwal, 'Moving obstacle detection from a navigation robot,' IEEE Trans. on Robotics and Automation, vol. 14, no. 3, pp. 404-416, 1989   DOI   ScienceOn
9 A. Lallet and S. Lacroix, 'Toward real-time 2D localization in outdoor environments,' Proc. of the IEEE International Conference on Robotics & Automation, pp. 2827-2832, May 1998
10 R. A. Brooks, 'A robust layered control system for a mobile robot,' IEEE Journal of Robotics and Automation, vol. RA-2, no. 1, pp. 14-23, April 1986
11 H. Zhou and S. Sakane, 'Sensor planning for mobile robot localization based on probabilistic inference using bayesian network,' Proc. of the 4th IEEE International Symposium on Assembly and Task Planning, pp. 7-12, May 2001
12 H. W. Sorenson, 'Kalman filtering techniques,' Advances in Control Systems Theory and Applications, vol. 3, pp. 219-292, 1996
13 S. M. Lavalle and R. Sharma, 'On motion planning in changing partially predictable environments,' International Journal of Robotics Research, vol. 16, no. 6, pp. 705-805, December 1997
14 A. Adam, E. Rivlin, and I. Shimshoni, 'Computing the sensory uncertainty field of a vision-based localization sensor,' Proc. of the IEEE International Conference on Robotics & Automation, pp. 2993-2999, April 2000
15 S. Segvic and S. Ribaric, 'Determining the absolute orientation in a corridor using projective geometry and active vision,' IEEE Trans. on Industrial Electronics, vol. 48, no. 3, pp. 696-710, June 2001   DOI   ScienceOn
16 J. W. Park and J. M. Lee, 'Robust map building and navigation for a mobile robot using active camera,' Proc. of ICMT, pp. 99-104, October 1999
17 C. F. Olson, 'Probabilistic self-localization for mobile robots,' IEEE Trans. on Robotics and Automation, vol. 16, no. 1, pp. 55-66, February 2000   DOI   ScienceOn
18 V. Caglioti, 'An entropic criterion for minimum uncertainty sensing in recognition and localization part II-A case study on directional distance measurements,' IEEE Trans. on Systems, Man, and Cybernetics, vol. 31, no. 2, pp. 197-214, April 2001   DOI   ScienceOn
19 M. Selsis, C. Vieren, and F. Cabestaing, 'Automatic tracking and 3D localization of moving objects by active contour models,' Proc. of the IEEE International Symposium on Intelligent Vehicles, pp. 96-100, 1995
20 J. Jang, C. Sun, and E. Mizutani, Neuro-Fuzzy and Soft Computing, Prentice-Hall, 1997
21 D. J. Kriegman, E. Triendl, and T. O. Binford, 'Stereo vision and navigation in buildings for mobile robots,' IEEE Trans. on Robotics and Automation, vol. 5, no. 6, pp. 792-803, December 1989   DOI   ScienceOn
22 E. Grosso and M. Tistarelli, 'Active/dynamic stereo vision,' IEEE Trans. on Pattern Analysis and Machine Intelligence, vol. 17, no. 9, pp. 868-879, December 1995   DOI   ScienceOn
23 J. J. Leonard and H. F. Durrant-Whyte, 'Mobile robot localization by tracking geometric beacons,' IEEE Trans. on Robotics and Automation, vol. 7, no. 3, pp. 376-382, June 1991   DOI   ScienceOn
24 K. Daniilidis and C. Krauss, 'Real-time tracking of moving objects with an active camera,' Real- Time Imaging, Academic Press Limited, 1998