Resolved velocity controller with an online RBF-NN compensator for controlling a dynamic binocular active vision head

Sisil Kumarawadu; Keigo Watanabe; Kazuo Kiguchi; Kiyotaka Izumi

Resolved velocity controller with an online RBF-NN compensator for controlling a dynamic binocular active vision head

Sisil Kumarawadu, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi

Research output: Contribution to conference › Paper › peer-review

Abstract

In this paper we present an active binocular tracking scheme, which addresses both the kinematics and dynamics aspects. External reference signals to a servo controller are computed online by the use of a suitable linear kinematics model of the system. The servo controller bestowed with an online RBF-NN compensator is capable of handling the tracking problem with a minimum knowledge of the dynamics of the system.

Original language	English
Pages	90-93
Number of pages	4
Publication status	Published - Dec 1 2001
Externally published	Yes
Event	40th SICE Annual Conference - Nagoya, Japan Duration: Jul 25 2001 → Jul 27 2001

Other

Other	40th SICE Annual Conference
Country/Territory	Japan
City	Nagoya
Period	7/25/01 → 7/27/01

Keywords

Active vision
Binocular tracking
Neural networks compensator

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

Cite this

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title = "Resolved velocity controller with an online RBF-NN compensator for controlling a dynamic binocular active vision head",

abstract = "In this paper we present an active binocular tracking scheme, which addresses both the kinematics and dynamics aspects. External reference signals to a servo controller are computed online by the use of a suitable linear kinematics model of the system. The servo controller bestowed with an online RBF-NN compensator is capable of handling the tracking problem with a minimum knowledge of the dynamics of the system.",

keywords = "Active vision, Binocular tracking, Neural networks compensator",

author = "Sisil Kumarawadu and Keigo Watanabe and Kazuo Kiguchi and Kiyotaka Izumi",

year = "2001",

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language = "English",

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T1 - Resolved velocity controller with an online RBF-NN compensator for controlling a dynamic binocular active vision head

AU - Kumarawadu, Sisil

AU - Watanabe, Keigo

AU - Kiguchi, Kazuo

AU - Izumi, Kiyotaka

PY - 2001/12/1

Y1 - 2001/12/1

N2 - In this paper we present an active binocular tracking scheme, which addresses both the kinematics and dynamics aspects. External reference signals to a servo controller are computed online by the use of a suitable linear kinematics model of the system. The servo controller bestowed with an online RBF-NN compensator is capable of handling the tracking problem with a minimum knowledge of the dynamics of the system.

AB - In this paper we present an active binocular tracking scheme, which addresses both the kinematics and dynamics aspects. External reference signals to a servo controller are computed online by the use of a suitable linear kinematics model of the system. The servo controller bestowed with an online RBF-NN compensator is capable of handling the tracking problem with a minimum knowledge of the dynamics of the system.

KW - Active vision

KW - Binocular tracking

KW - Neural networks compensator

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UR - http://www.scopus.com/inward/citedby.url?scp=0035715848&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:0035715848

SP - 90

EP - 93

T2 - 40th SICE Annual Conference

Y2 - 25 July 2001 through 27 July 2001

ER -

Resolved velocity controller with an online RBF-NN compensator for controlling a dynamic binocular active vision head

Abstract

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Keywords

ASJC Scopus subject areas

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