Visual motion observer-based pose control with panoramic camera via passivity approach

Hiroyuki Kawai, Toshiyuki Murao, Masayuki Fujita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper considers the vision-based estimation and control with a panoramic camera via passivity approach. First, a hyperbolic projection of a panoramic camera is presented. Next, using standard body-attached coordinate frames (the world frame, mirror frame, camera frame and object frame), we represent the body velocity of the relative rigid body motion (position and orientation). After that, we propose a visual motion observer to estimate the relative rigid body motion from the measured camera data. We show that the estimation error system with a panoramic camera has the passivity which allows us to prove stability in the sense of Lyapunov. After that, stability and L 2-gain performance analysis for the closedloop system are discussed. Finally, simulation and experimental results are shown in order to confirm the proposed method.

Original languageEnglish
Title of host publicationProceedings of the 2010 American Control Conference, ACC 2010
Pages4534-4539
Number of pages6
Publication statusPublished - 2010
Event2010 American Control Conference, ACC 2010 - Baltimore, MD
Duration: 2010 Jun 302010 Jul 2

Other

Other2010 American Control Conference, ACC 2010
CityBaltimore, MD
Period10/6/3010/7/2

Fingerprint

Cameras
Error analysis
Mirrors

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Kawai, H., Murao, T., & Fujita, M. (2010). Visual motion observer-based pose control with panoramic camera via passivity approach. In Proceedings of the 2010 American Control Conference, ACC 2010 (pp. 4534-4539). [5530864]

Visual motion observer-based pose control with panoramic camera via passivity approach. / Kawai, Hiroyuki; Murao, Toshiyuki; Fujita, Masayuki.

Proceedings of the 2010 American Control Conference, ACC 2010. 2010. p. 4534-4539 5530864.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kawai, H, Murao, T & Fujita, M 2010, Visual motion observer-based pose control with panoramic camera via passivity approach. in Proceedings of the 2010 American Control Conference, ACC 2010., 5530864, pp. 4534-4539, 2010 American Control Conference, ACC 2010, Baltimore, MD, 10/6/30.
Kawai H, Murao T, Fujita M. Visual motion observer-based pose control with panoramic camera via passivity approach. In Proceedings of the 2010 American Control Conference, ACC 2010. 2010. p. 4534-4539. 5530864
Kawai, Hiroyuki ; Murao, Toshiyuki ; Fujita, Masayuki. / Visual motion observer-based pose control with panoramic camera via passivity approach. Proceedings of the 2010 American Control Conference, ACC 2010. 2010. pp. 4534-4539
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