Abstract
This paper is concerned with the performance verification of the H∞ filter for a visual tracking problem. The efficacy of the H∞ filter is validated experimentally with a hand-eye coordinated robot manipulator system using stereo. After the introduction of an experimental architecture, a mathematical model for the visual tracking problem is described. Then, the estimation and control method is discussed based on the H∞ filter algorithm. Finally, an empirical comparison is made with the H∞ filter and the Kalman filter for the estimation problem arising in the visual tracking. The experimental results reveal its potential efficacy of the H∞ filter.
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