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

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 languageEnglish
Title of host publicationAdvances in Computer Science and Ubiquitous Computing - CSA-CUTE 17
PublisherSpringer Verlag
Pages1289-1294
Number of pages6
Volume474
ISBN (Print)9789811076046
DOIs
Publication statusPublished - 2018 Jan 1
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
Volume474
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119

Other

OtherInternational Conference on Computer Science and its Applications, CSA 2017
CountryTaiwan, Province of China
CityTaichung
Period17/12/1817/12/20

Keywords

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

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering

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  • Cite this

    Kim, K. S., Kang, H. H., You, S. H., & Ahn, C. K. (2018). Vision-based humanoid robot control using FIR filter. In Advances in Computer Science and Ubiquitous Computing - CSA-CUTE 17 (Vol. 474, pp. 1289-1294). (Lecture Notes in Electrical Engineering; Vol. 474). Springer Verlag. https://doi.org/10.1007/978-981-10-7605-3_205