Vision-based humanoid robot control using FIR filter

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

doi:10.1007/978-981-10-7605-3_205

Vision-based humanoid robot control using FIR filter

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

School of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

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 language	English
Title of host publication	Advances in Computer Science and Ubiquitous Computing - CSA-CUTE 17
Editors	Gangman Yi, Yunsick Sung, James J. Park, Vincenzo Loia
Publisher	Springer Verlag
Pages	1289-1294
Number of pages	6
ISBN (Print)	9789811076046
DOIs	https://doi.org/10.1007/978-981-10-7605-3_205
Publication status	Published - 2018
Event	International Conference on Computer Science and its Applications, CSA 2017 - Taichung, Taiwan, Province of China Duration: 2017 Dec 18 → 2017 Dec 20

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	474
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Other

Other	International Conference on Computer Science and its Applications, CSA 2017
Country/Territory	Taiwan, Province of China
City	Taichung
Period	17/12/18 → 17/12/20

Keywords

FIR filter
Humanoid
Kalman filter
Vision-based control
Visual tracking

ASJC Scopus subject areas

Industrial and Manufacturing Engineering

Access to Document

10.1007/978-981-10-7605-3_205

Cite this

Vision-based humanoid robot control using FIR filter. / Kim, Kwan Soo; Kang, Hyun Ho; You, Sung Hyun et al.

Advances in Computer Science and Ubiquitous Computing - CSA-CUTE 17. ed. / Gangman Yi; Yunsick Sung; James J. Park; Vincenzo Loia. Springer Verlag, 2018. p. 1289-1294 (Lecture Notes in Electrical Engineering; Vol. 474).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kim, KS, Kang, HH, You, SH & Ahn, CK 2018, Vision-based humanoid robot control using FIR filter. in G Yi, Y Sung, JJ Park & V Loia (eds), Advances in Computer Science and Ubiquitous Computing - CSA-CUTE 17. Lecture Notes in Electrical Engineering, vol. 474, Springer Verlag, pp. 1289-1294, International Conference on Computer Science and its Applications, CSA 2017, Taichung, Taiwan, Province of China, 17/12/18. https://doi.org/10.1007/978-981-10-7605-3_205

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abstract = "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.",

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author = "Kim, {Kwan Soo} and Kang, {Hyun Ho} and You, {Sung Hyun} and Ahn, {Choon Ki}",

note = "Funding Information: Acknowledgments. This work was supported in part by “Human Resources program in Energy Technology” of the Korea Institute of Energy Technology Evaluation and Planning (KETEP) granted financial resource from the Ministry of Trade, Industry & Energy, Republic of Korea (No. 20174030201820) and in part by the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT&Future Planning (NRF - 2017R1A1A1A05001325). Funding Information: This work was supported in part by “Human Resources program in Energy Technology” of the Korea Institute of Energy Technology Evaluation and Planning (KETEP) granted financial resource from the Ministry of Trade, Industry & Energy, Republic of Korea (No. 20174030201820) and in part by the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT & Future Planning (NRF - 2017R1A1A1A05001325). Publisher Copyright: {\textcopyright} Springer Nature Singapore Pte Ltd. 2018.; International Conference on Computer Science and its Applications, CSA 2017 ; Conference date: 18-12-2017 Through 20-12-2017",

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N1 - Funding Information: Acknowledgments. This work was supported in part by “Human Resources program in Energy Technology” of the Korea Institute of Energy Technology Evaluation and Planning (KETEP) granted financial resource from the Ministry of Trade, Industry & Energy, Republic of Korea (No. 20174030201820) and in part by the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT&Future Planning (NRF - 2017R1A1A1A05001325). Funding Information: This work was supported in part by “Human Resources program in Energy Technology” of the Korea Institute of Energy Technology Evaluation and Planning (KETEP) granted financial resource from the Ministry of Trade, Industry & Energy, Republic of Korea (No. 20174030201820) and in part by the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT & Future Planning (NRF - 2017R1A1A1A05001325). Publisher Copyright: © Springer Nature Singapore Pte Ltd. 2018.

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Vision-based humanoid robot control using FIR filter

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Keywords

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