[KSCI] Korea Science Citation Index Service

http://dx.doi.org/10.6109/jicce.2010.8.2.145

Kinematic Method of Camera System for Tracking of a Moving Object

Jin, Tae-Seok (Department of Mechatronics Engineering, DongSeo University)

Publication Information

Journal of information and communication convergence engineering / v.8, no.2, 2010 , pp. 145-149 More about this Journal

Abstract

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.

Keywords

Mobile Robot; Tracking; Active camera; CCD camera; Image processing;

Citations & Related Records

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