Loading [MathJax]/extensions/TeX/ietmacros.js
Nonlinear observer for structure estimation using a paracatadioptric camera | IEEE Conference Publication | IEEE Xplore

Nonlinear observer for structure estimation using a paracatadioptric camera


Abstract:

Estimation of the three-dimensional (3D) Euclidean coordinates of points on an object using two-dimensional (2D) image data is required by many robotics and surveillance ...Show More

Abstract:

Estimation of the three-dimensional (3D) Euclidean coordinates of points on an object using two-dimensional (2D) image data is required by many robotics and surveillance applications. This paper develops a nonlinear observer to estimate relative Euclidean coordinates of an object viewed by a moving paracatadioptric camera with known motion. The observer exponentially estimates the structure of an object (i.e. Euclidean coordinates of different points on an object) provided sufficient observability conditions are satisfied. Observer gain conditions are derived based on a Lyapunov-analysis, which guarantees convergence, and simulation results illustrate the performance of the observer in the presence of image noise.
Date of Conference: 30 June 2010 - 02 July 2010
Date Added to IEEE Xplore: 29 July 2010
ISBN Information:

ISSN Information:

Conference Location: Baltimore, MD, USA

References

References is not available for this document.