In order to perform visual servoing tasks in a robotic sistem, one is confronted with the low sampling rate of standard cameras and the time delay introduced by image acquisition and processing. One way to circunvent ...
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ISBN:
(纸本)0780366069
In order to perform visual servoing tasks in a robotic sistem, one is confronted with the low sampling rate of standard cameras and the time delay introduced by image acquisition and processing. One way to circunvent the above problems is to estimate future positions of a moving object employing prediction techniques. In this work, three prediction techniques, namelly Kalman Filtering and two adaptive techniques employing leastsquares with forgettingfactor and the projection algorithm respectively, are evaluated in terms of their prediction error and speed of convergence. Experimental results show that the adaptive technique employing the projection algorithm gives best results.
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