| Robust Face Tracking Control of a Mobile Robot Using Self-Tuning Kalman Filter and Echo State Network | |
|---|---|
| 學年 | 98 |
| 學期 | 2 |
| 出版（發表）日期 | 2010-07-01 |
| 作品名稱 | Robust Face Tracking Control of a Mobile Robot Using Self-Tuning Kalman Filter and Echo State Network |
| 作品名稱（其他語言） | |
| 著者 | Tsai, Chi-yi; Xavier Dutoit; Song, Kai-tai; Hendrik Van Brussel; Marnix Nutti |
| 單位 | 淡江大學電機工程學系 |
| 出版者 | Hoboken: Wiley-Blackwell Publishing, Inc. |
| 著錄名稱、卷期、頁數 | Asian Journal of Control 12(4), pp.488-509 |
| 摘要 | This paper presents a novel design of face tracking algorithm and visual state estimation for a mobile robot face tracking interaction control system. The advantage of this design is that it can track a user's face under several external uncertainties and estimate the system state without the knowledge about target's 3D motion-model information. This feature is helpful for the development of a real-time visual tracking control system. In order to overcome the change in skin color due to light variation, a real-time face tracking algorithm is proposed based on an adaptive skin color search method. Moreover, in order to increase the robustness against colored observation noise, a new visual state estimator is designed by combining a Kalman filter with an echo state network-based self-tuning algorithm. The performance of this estimator design has been evaluated using computer simulation. Several experiments on a mobile robot validate the proposed control system. |
| 關鍵字 | Visual tracking control;visual state estimation;echo state network;face tracking;illumination variation |
| 語言 | en |
| ISSN | 1934-6093 |
| 期刊性質 | 國外 |
| 收錄於 | SCI |
| 產學合作 | |
| 通訊作者 | Tsai, Chi-yi; Song, Kai-tai; Xavier Dutoit |
| 審稿制度 | |
| 國別 | USA |
| 公開徵稿 | |
| 出版型式 | 電子版 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/55038 ) |
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