Vorträge und Posterpräsentationen (mit Tagungsband-Eintrag):
S. Chroust, M. Vincze:
"Detection of Sudden Changes in the Target Motion for Visual Servoing";
Vortrag: 11th International Conference on Advanced Robotics,
Coimbra, Portugal;
30.06.2003
- 03.07.2003; in: "CD: Proceedings of the 11th International Conference on Advanced Roboting",
(2003),
ISBN: 972-96889-9-0;
6 S.
Kurzfassung englisch:
One main disadvantage of visual sensors is the delay time which results from acquiring and processing an image. This delay is often handled by predictive algorithms, namely after Kalman. Predictive algorithms work very well as long as the target motion is smooth. Problems arise for sudden changes. In this paper a method is introduced to detect such discontinuities by supervising the prediction error with a Prediction Monitor (PM). The knowledge of the occurrence of a sudden change yields the possibility to react faster an without oscillations.
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