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

Hiroyuki Kawai*, Toshiyuki Murao, Masayuki Fujita

*この研究の対応する著者

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 2010 American Control Conference, ACC 2010
ページ4534-4539
ページ数6
出版ステータスPublished - 2010
イベント2010 American Control Conference, ACC 2010 - Baltimore, MD
継続期間: 2010 6 302010 7 2

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学

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