DocumentCode :
2469523
Title :
Lyapunov-Based Range Identification For A Paracatadioptric System
Author :
Aiken, D. ; Gupta, S. ; Hu, G. ; Dixon, W.E.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Florida Univ., Gainesville, FL
fYear :
2006
fDate :
13-15 Dec. 2006
Firstpage :
3879
Lastpage :
3884
Abstract :
Many applications require the interpretation of the Euclidean coordinates of features of a 3D object through 2D images. In this paper, the range and the Euclidean coordinates of an object undergoing general affine motion are determined, via a nonlinear observer, for a physically realizable paracatadioptric imaging system. The nonlinear estimator asymptotically determines the range information provided that the Euclidean motion parameters are known. The proposed technique is developed through a Lyapunov-based design and stability analysis, and simulation results are provided that illustrate the performance of the state estimator
Keywords :
Lyapunov methods; identification; image motion analysis; nonlinear systems; observers; stability; 2D image; Euclidean coordinates; Euclidean motion parameter; Lyapunov-based design; Lyapunov-based range identification; nonlinear estimator; nonlinear observer; paracatadioptric imaging system; stability analysis; Calibration; Cameras; Contracts; Control systems; Image reconstruction; Lenses; Mirrors; Observers; State estimation; USA Councils;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
Type :
conf
DOI :
10.1109/CDC.2006.376820
Filename :
4177319
Link To Document :
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