Title :
A Lyapunov-Based Method for Estimation of Euclidean Position of Static Features Using a Single Camera
Author :
Chitrakaran, Vilas K. ; Dawson, Darren M.
Author_Institution :
OC Robotics, Bristol
Abstract :
In this paper, we present the design of an adaptive nonlinear algorithm for estimation of Euclidean position of features in a static environment in the field of view of a monocular camera. The development of the geometric model and camera motion kinematics is based on our previous work in [2]. This paper presents a new alternate approach to estimation of 3D coordinates of feature points that is simpler in mathematical formulation and easier to implement.
Keywords :
Lyapunov methods; cameras; image motion analysis; Euclidean position estimation; Lyapunov-based method; adaptive nonlinear algorithm; monocular camera; motion kinematics; single camera; static features; Algorithm design and analysis; Cameras; Contracts; Kinematics; Mobile robots; Remotely operated vehicles; Robot vision systems; Simultaneous localization and mapping; Solid modeling; Visual servoing;
Conference_Titel :
American Control Conference, 2007. ACC '07
Conference_Location :
New York, NY
Print_ISBN :
1-4244-0988-8
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2007.4282227
