.png){kind=icon}
Return
Range identification for perspective vision systems
.png){kind=icon}
PRE
AI
DOI：10.1109/TAC.2003.820151.png)
.png){kind=icon}
.png){kind=icon}
Share.png){kind=icon}
Save
Abstract
En 中文
In this note, a new observer is developed to determine range information (and, hence, the three-dimensional (3-D) coordinates) of an object, feature moving with affine motion dynamics (or the more general Ricatti motion dynamics) with known motion parameters. The unmeasurable range, information is determined from a single camera provided an observability condition is satisfied that has physical significance. To develop the observer, the perspective, system is expressed In terms of the nonlinear. feature dynamics. The structure of the proposed observer is inspired by recent disturbance observer results. The proposed technique facilitates a Lyapunov-based analysis that is less complex than the sliding-mode based. analysis derived for recent observer designs. The analysis demonstrates that the 3-D task-space coordinates of the feature point can be asymptotically identified. Simulation results are provided that illustrate the performance of the observer in the presence of noise.
Keywords:
affine system
nonlinear observer
visual servoing
Journal
IF:
7
Papers:
1.3W
Citations:
6.7W
Organization
No organization information available
Cited Papers
ShareSaveEffect of Gradient Multilayer Design on Tribological Performance of TiN/TiSiN Coatings Prepared by Cathodic Arc Ion Plating.png)
Coatings
OAAI
CoatingsIF0
OAAIShareSave no more
no more