지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 한국정보통신학회JICCE Journal of information and communication convergence engineering Journal of information and communication convergence engineering 제8권 제2호
- 발행연도
- 2010.4
- 수록면
- 145 - 149 (5page)
이용수
초록· 키워드
오류제보하기
In this paper, we propose a kinematic approach to estimating the real-time moving object. A new scheme for a mobile robot to track and capture a moving object using images of a camera is proposed. 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 path 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.
목차
Abstract
Ⅰ. INTRODUCTION
Ⅱ. KINEMATIC PARAMETER
Ⅲ. MODELING OF A MOVING OBJECT
Ⅳ. MOTION PLANNING FOR TRACKING
Ⅴ. CONCLUSIONS
REFERENCES
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