A mode switching estimator for visual servoing

K. Hashimoto, K. Nagahama, T. Noritsugu

Research output: Contribution to journalArticlepeer-review

13 Citations (Scopus)


The paper proposes an algorithm for object motion estimation. It is assumed that the object motion is composed of primitive motions and the total motion is generated by simply switching these primitive motions. The proposed estimator for visual servoing has two stages: Kalman filter and validation gate. Models of primitive motions are connected and an augmented system is designed. Each primitive motion corresponds to an invariant subset in the state space of the augmented system. The motion switching is generated by a state transition among the state subsets. A Kalman filter is used to predict the object motion on the basis of the augmented system. Switching of actual object motion is detected by the validation gate. The validation gate is implemented by nonlinear least square fitting of the current state onto the nearest state subsets. Real-time experiments of object tracking demonstrate the effectiveness of the proposed estimator.

Original languageEnglish
Pages (from-to)1610-1615
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 2002 Jan 1
Externally publishedYes

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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