Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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The development of a visual tracking algorithm for the stable grasping of a moving object

움직이는 물체의 안정한 파지를 위한 시각추적 알고리즘 개발

  • Cha, In-Hyuk (Dept. of Precision Mechanical Engineering, Hanyang University) ;
  • Sun, Yeong-Gab (Dept. of Precision Mechanical Engineering, Hanyang University) ;
  • Han, Chang-Soo (Dept. of Precision Mechanical Engineering, Hanyang University)
  • 차인혁 (한양대학교 정밀기계공학과) ;
  • 손영갑 (한양대학교 정밀기계공학과) ;
  • 한창수 (한양대학교 정밀기계공학과)
  • Published : 1998.04.01
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Abstract

This paper proposes an advanced visual tracking algorithm for the stable grasping of a moving target(2D). This algorithm is programmed to find grasping points of an unknown polygonal object and execute visual tracking. The Kalman Filter(KF) algorithm based on the SVD(Singular Value Decomposition) is applied to the visual tracking system for the tracking of a moving object. The KF based on the SVD improves the accuracy of the tracking and the robustness in the estimation of state variables and noise statistics. In addition, it does not have the numerical unstability problem that can occur in the visual tracking system based on Kalman filter. In the grasping system, a parameterized family is constructcd, and through the family, the grasping system finds the stable grasping points of an unknown object through the geometric properties of the parameterized family. In the previous studies, many researchers have been studied on only 'How to track a moving target'. This paper concern not only on 'how to track' but also 'how to grasp' and apply the grasping theory to a visual tracking system.

Keywords

References

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