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.
|ホスト出版物のタイトル||Proceedings of the 2010 American Control Conference, ACC 2010|
|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月 30 → 2010 7月 2
|Other||2010 American Control Conference, ACC 2010|
|Period||10/6/30 → 10/7/2|
ASJC Scopus subject areas