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Discrete Integral Sliding Mode Control in Visual Object Tracking Using Differential Kinematics

  • Luis Enrique González Jiménez
  • Alexander Loukianov
  • Eduardo Bayro-Corrochano
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5856)

Abstract

A Discrete Integral Sliding Mode algorithm is proposed to control a Stereo Vision System (SVS) and perform Visual Object Tracking. The kinematical model of the structure is obtained using Geometric Algebra (GA). The localizing part was done in a real SVS in order to obtain the reference for orientation vector and the application for a Pan Tilt Unit is presented. The algorithm presents a good and robust performance.

Keywords

Integral Sliding Mode Control Visual Tracking Geometric Algebra 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Luis Enrique González Jiménez
    • 1
  • Alexander Loukianov
    • 1
  • Eduardo Bayro-Corrochano
    • 1
  1. 1.Department of Automatic ControlCINVESTAV,Unidad GuadalajaraZapopanMéxico

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