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In this paper we introduce a measurement conversion technique that analytically transforms the non-linear measurement equations obtained from a stereo-vision system into a system of linear measurement equations. We then design a robust linear filter around the converted measurement system. The state estimation error of the proposed filter is bounded and we provide a rigorous theoretical analysis of this result. The performance of the robust filter developed in this paper is demonstrated via computer simulation and via practical experimentation using a robotic manipulator as a target. The proposed filter is shown to outperform the extended Kalman filter (EKF).<\/jats:p>","DOI":"10.1017\/s0263574709005827","type":"journal-article","created":{"date-parts":[[2009,6,9]],"date-time":"2009-06-09T08:37:32Z","timestamp":1244536652000},"page":"517-524","source":"Crossref","is-referenced-by-count":2,"title":["A method for stereo-vision-based tracking for robotic applications"],"prefix":"10.1017","volume":"28","author":[{"given":"Pubudu N.","family":"Pathirana","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Adrian N.","family":"Bishop","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Andrey V.","family":"Savkin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Samitha W.","family":"Ekanayake","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Timothy J.","family":"Black","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,6,9]]},"reference":[{"key":"S0263574709005827_ref20","doi-asserted-by":"crossref","first-page":"1333","DOI":"10.1109\/TAES.2003.1261132","article-title":"Survey of maneuvering target tracking part I: Dynamic models","volume":"39","author":"Li","year":"2003","journal-title":"IEEE Trans. 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