Dynamic Visual Tracking for Robot Manipulator Using Adaptive Fading Kalman Filter
This paper focuses on the problem of visual tracking of a moving target with the temporary occlusion of image feature, a dynamic visual tracking control system for robot manipulator is developed by using adaptive fading Kalman filter (AFKF). The estimation of the residual covariance is used to compu...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8993820/ |
| _version_ | 1818736516767154176 |
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| author | Jiadi Qu Fuhai Zhang Yunxi Tang Yili Fu |
| author_facet | Jiadi Qu Fuhai Zhang Yunxi Tang Yili Fu |
| author_sort | Jiadi Qu |
| collection | DOAJ |
| description | This paper focuses on the problem of visual tracking of a moving target with the temporary occlusion of image feature, a dynamic visual tracking control system for robot manipulator is developed by using adaptive fading Kalman filter (AFKF). The estimation of the residual covariance is used to compute the forgetting factor to automatically adjust the weight of the image observation data for improving the visual state estimation accuracy. When the target features are occluded, the prediction of missing observation sequence are generated by using the predicted compensation noise and preorder observation sequence to determine the forgetting factor for estimating the missing visual states. Then, a parameter adaptive law with projection error compensation is designed to realize the visual tracking with uncertain camera parameters. Finally, the trajectory tracking experiments based on a real robot platform is carried out to verify the performance of the proposed state estimator and tracking controller. The results show that the proposed method can accurately realize the visual tracking with the occluded trajectory and inaccurate camera parameters, which improves the flexibility of dynamic visual tracking of robot manipulator. |
| first_indexed | 2024-12-18T00:38:24Z |
| format | Article |
| id | doaj.art-51c5b182766d48088a158f888003fe0b |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-18T00:38:24Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-51c5b182766d48088a158f888003fe0b2022-12-21T21:26:57ZengIEEEIEEE Access2169-35362020-01-018351133512610.1109/ACCESS.2020.29732998993820Dynamic Visual Tracking for Robot Manipulator Using Adaptive Fading Kalman FilterJiadi Qu0https://orcid.org/0000-0001-8686-4798Fuhai Zhang1https://orcid.org/0000-0002-4061-482XYunxi Tang2https://orcid.org/0000-0002-8593-8836Yili Fu3https://orcid.org/0000-0003-0030-6440State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, ChinaThis paper focuses on the problem of visual tracking of a moving target with the temporary occlusion of image feature, a dynamic visual tracking control system for robot manipulator is developed by using adaptive fading Kalman filter (AFKF). The estimation of the residual covariance is used to compute the forgetting factor to automatically adjust the weight of the image observation data for improving the visual state estimation accuracy. When the target features are occluded, the prediction of missing observation sequence are generated by using the predicted compensation noise and preorder observation sequence to determine the forgetting factor for estimating the missing visual states. Then, a parameter adaptive law with projection error compensation is designed to realize the visual tracking with uncertain camera parameters. Finally, the trajectory tracking experiments based on a real robot platform is carried out to verify the performance of the proposed state estimator and tracking controller. The results show that the proposed method can accurately realize the visual tracking with the occluded trajectory and inaccurate camera parameters, which improves the flexibility of dynamic visual tracking of robot manipulator.https://ieeexplore.ieee.org/document/8993820/Visual trackingrobot manipulationKalman filterocclusion |
| spellingShingle | Jiadi Qu Fuhai Zhang Yunxi Tang Yili Fu Dynamic Visual Tracking for Robot Manipulator Using Adaptive Fading Kalman Filter IEEE Access Visual tracking robot manipulation Kalman filter occlusion |
| title | Dynamic Visual Tracking for Robot Manipulator Using Adaptive Fading Kalman Filter |
| title_full | Dynamic Visual Tracking for Robot Manipulator Using Adaptive Fading Kalman Filter |
| title_fullStr | Dynamic Visual Tracking for Robot Manipulator Using Adaptive Fading Kalman Filter |
| title_full_unstemmed | Dynamic Visual Tracking for Robot Manipulator Using Adaptive Fading Kalman Filter |
| title_short | Dynamic Visual Tracking for Robot Manipulator Using Adaptive Fading Kalman Filter |
| title_sort | dynamic visual tracking for robot manipulator using adaptive fading kalman filter |
| topic | Visual tracking robot manipulation Kalman filter occlusion |
| url | https://ieeexplore.ieee.org/document/8993820/ |
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