Title :
Control of camera state based on perspective observation
Author :
Tanaka, Teruaki ; Ebine, Takumi ; Kimura, Hidenori
Author_Institution :
Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
Abstract :
This paper describes a control law of the camera movement to track the object in such a way that it keeps the projected image of the object at a desired place on the image plane. The camera state which is composed of the position and the attitude is regarded as a point in the manifold S=SO(3)×R3. For measuring the difference between the two points in S, A distance is introduced. The set of all the desired position of camera states which satisfy the purpose of control for an object on the camera is a submanifold Sd of S. The minimum distance ρ*(F, Sd) from a point F∈S to Sd is explicitly calculated and is regarded as the distance between a point F and a set Sd. A control strategy for the camera movement to reduce p*(F, Sd) is given based on the measurement of the projected image of the object. A controller for this strategy is given and its convergence is proven
Keywords :
asymptotic stability; nonlinear control systems; optimisation; position control; robot vision; target tracking; tracking; asymptotic stability; camera movement; camera state control; nonlinear control system; object tracking; optimisation; perspective observation; position control; projected image; robot vision; Cameras; Control engineering computing; Convergence; Feedback; Machinery; Mechanical engineering; Position measurement; Robot control; Robot vision systems; Tracking;
Conference_Titel :
Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
Conference_Location :
Lake Buena Vista, FL
Print_ISBN :
0-7803-1968-0
DOI :
10.1109/CDC.1994.411639
