DocumentCode
3159873
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
fYear
2007
fDate
9-13 July 2007
Firstpage
1988
Lastpage
1993
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2007. ACC '07
Conference_Location
New York, NY
ISSN
0743-1619
Print_ISBN
1-4244-0988-8
Electronic_ISBN
0743-1619
Type
conf
DOI
10.1109/ACC.2007.4282227
Filename
4282227
Link To Document