Vision-based humanoid robot control using FIR filter

Kwan Soo Kim, Hyun Ho Kang, Sung Hyun You, Choon Ki Ahn

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In this paper, we propose a novel vision-based humanoid control method and visual tracking based on constant velocity (CV) model using the finite impulse response (FIR) filter. The proposed method has robust performance even if a sampling time or noise information is inaccurate. Furthermore, even when the movement of the detected ball or the ambient illuminance changes suddenly, the proposed method shows robust performance. The robust performance of the proposed method is verified through experimental results.

Original languageEnglish
Title of host publicationAdvances in Computer Science and Ubiquitous Computing - CSA-CUTE 17
EditorsGangman Yi, Yunsick Sung, James J. Park, Vincenzo Loia
PublisherSpringer Verlag
Number of pages6
ISBN (Print)9789811076046
Publication statusPublished - 2018
EventInternational Conference on Computer Science and its Applications, CSA 2017 - Taichung, Taiwan, Province of China
Duration: 2017 Dec 182017 Dec 20

Publication series

NameLecture Notes in Electrical Engineering
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119


OtherInternational Conference on Computer Science and its Applications, CSA 2017
Country/TerritoryTaiwan, Province of China


  • FIR filter
  • Humanoid
  • Kalman filter
  • Vision-based control
  • Visual tracking

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering


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