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Lyapunov-Based Range Identification For Paracatadioptric Systems.
- Source :
-
IEEE Transactions on Automatic Control . Aug2008, Vol. 53 Issue 7, p1775-1781. 7p. 4 Graphs. - Publication Year :
- 2008
-
Abstract
- Many applications require the interpretation of the Euclidean coordinates of features of a 3-D object through 2-D images. In this paper, the relative range and the Euclidean coordinates of an object or camera undergoing general affine motion are determined for paracatadioptric imaging systems via a nonlinear observer. The nonlinear observer asymptotically determines the range information provided that the motion parameters are known. The observer is developed through a Lyapunov-based design and stability analysis, and simulation results are provided that illustrate the performance of the state estimator. The contributions of this paper are that the developed observer: 1) can be applied to both affine and nonaffine systems; 2) can be used for both the fixed and moving camera configurations; 3) is continuous; and 4) yields an asymptotic result. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00189286
- Volume :
- 53
- Issue :
- 7
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Automatic Control
- Publication Type :
- Periodical
- Accession number :
- 34524499
- Full Text :
- https://doi.org/10.1109/TAC.2008.928312