제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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- Pages.1027-1031
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- 1990
Model-based velocity measurement using image processing
- Ohba, Kohtaro (Department of Mechanical Engineering, Tohoku Univ.) ;
- Ishihara, Tadashi (Department of Mechanical Engineering, Tohoku Univ.) ;
- Inooka, Hikaru (Department of Mechanical Engineering, Tohoku Univ.)
- 발행 : 1990.10.01
초록
In this paper, we propose a model-based method of estimating the velocity of a moving object from a series of images. The proposed method utilizes Kalman filtering technique. Assuming that the motion is described by an affine transformation, we construct a discrete-time state variable model of the motion based on the dynamic motion imagery modeling technique proposed by Schalkoff. Using this state variable model, we derive a Kalman filter algorithm. Some simulation results are presented to show that the proposed Kalman filter algorithm is superior to a simple least square method without a model.
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