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Trajectory Generation of a Moving Object for a Mobile Robot in Predictable Environment  

Jin, Tae-Seok (Department of Electronics Engineering, Pusan National University)
Lee, Jang-Myung (Department of Electronics Engineering, Pusan National University)
Publication Information
International Journal of Precision Engineering and Manufacturing / v.5, no.1, 2004 , pp. 27-35 More about this Journal
Abstract
In the field of machine vision using a single camera mounted on a mobile robot, although the detection and tracking of moving objects from a moving observer, is complex and computationally demanding task. In this paper, we propose a new scheme for a mobile robot to track and capture a moving object using images of a camera. The system consists of the following modules: data acquisition, feature extraction and visual tracking, and trajectory generation. And a single camera is used as visual sensors to capture image sequences of a moving object. 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 trajectory 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; Kalman filter; Tracking & Capturing; Active camera; Trajectory generation;
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