Robust Techniques for Visual Motion
نویسنده
چکیده
In a vision guided robotic manipulator it is necessary to estimate the motion parameters of the moving object before some control scheme can be implemented. The classical solution to the general problem of state estimation from a sequence of noisy measurements is the Kalman lter which aims at minimizing the covariance of the estimation error. In this paper certain concepts from robust control such as H1-synthesis and analysis have been adopted to determine the motion parameters of a moving object from a sequence of noisy measurements.
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