Condition Monitoring for Image-Based Visual Servoing Using Kalman Filter

  • Mien Van
  • Denglu Wu
  • Shuzi Sam Ge
  • Hongliang RenEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9475)


In image-based visual servoing (IBVS), the control law is based on the error between the current and desired features on the image plane. The visual servoing system is working well only when all the designed features are correctly extracted. To monitor the quality of feature extraction, in this paper, a condition monitoring scheme is developed. First, the failure scenarios of the visual servoing system caused by incorrect feature extraction are reviewed. Second, we propose a residual generator, which can be used to detect if a failure occurs, based on the Kalman filter. Finally, simulation results are given to verify the effectiveness of the proposed method.


Kalman Filter Feature Point Tracking Performance Visual Servoing Camera Frame 
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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Mien Van
    • 1
  • Denglu Wu
    • 1
  • Shuzi Sam Ge
    • 1
  • Hongliang Ren
    • 1
    Email author
  1. 1.Advanced Robotic Centre, Faculty of EngineeringNational University of SingaporeSingaporeSingapore

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