Unscented Particle Filter for Online Total Image Jacobian Matrix Estimation in Robot Visual Servoing.
Fasheng WangFuming SunJunxing ZhangBaowei LinXucheng LiPublished in: IEEE Access (2019)
Keyphrases
- particle filter
- visual servoing
- particle filtering
- state estimation
- visual tracking
- vision system
- mobile robot
- kalman filter
- object tracking
- multiple objects
- simultaneous localization and mapping
- single image
- motion model
- position and orientation
- high resolution
- feature points
- image segmentation
- real time
- kalman filtering
- appearance model
- state space
- robot control
- input image
- path planning
- image space
- control law
- data association
- camera motion
- jacobian matrix
- autonomous robots
- dynamic environments
- three dimensional
- learning algorithm