DocumentCode :
2582239
Title :
Range identification for nonlinear parameterizable paracatadioptric systems
Author :
Nath, Nitendra ; Dawson, Darren M. ; Tatlicioglu, Enver
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., Clemson, SC, USA
fYear :
2009
fDate :
11-14 Oct. 2009
Firstpage :
4444
Lastpage :
4449
Abstract :
In this paper, a new range identification technique for a calibrated paracatadioptric system mounted on a moving platform is developed to recover the range information and the three-dimensional (3D) Euclidean coordinates of a static object feature. The position of the moving platform is assumed to be measurable. To identify the unknown range, first a function of the projected pixel coordinates is related to the unknown 3D Euclidean coordinates of an object feature. This function is nonlinearly parameterized (i.e., the unknown parameters appear nonlinearly in the parameterized model). An adaptive estimator based on a min-max algorithm is then designed to estimate the unknown 3D Euclidean coordinates of an object feature relative to a fixed reference frame which facilitates the identification of range. A Lyapunov-type stability analysis is used to show that the developed estimator provides an estimation of the unknown parameters within a desired precision.
Keywords :
feature extraction; image motion analysis; minimax techniques; object detection; 3D Euclidean coordinates; Lyapunov-type stability analysis; adaptive estimator; fixed reference frame; min-max algorithm; nonlinear parameterizable paracatadioptric systems; projected pixel coordinates; range identification; static object feature; three-dimensional Euclidean coordinates; Cybernetics; USA Councils; Lyapunov methods; Nonlinear parameterization; min-max algorithm; paracatadioptric systems; range identification; vision-based estimation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Systems, Man and Cybernetics, 2009. SMC 2009. IEEE International Conference on
Conference_Location :
San Antonio, TX
ISSN :
1062-922X
Print_ISBN :
978-1-4244-2793-2
Electronic_ISBN :
1062-922X
Type :
conf
DOI :
10.1109/ICSMC.2009.5346920
Filename :
5346920
Link To Document :
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