Motion recovery by using stereo perspective observation

Xinkai Chen, Hiroyuki Kano

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

The motion recovery for a class of movements in the space is considered in this note by using the stereo perspective observation of at least three points. The motion equation that is considered can cover a wide class of practical movements in the space. The asymptotic estimation of the motion parameters, which are all time-dependent variables, is developed based on the second method of Lyapunov. Furthermore, the proposed algorithm can be modified to deal with occlusion phenomenon. To illustrate the performance of the proposed algorithm, it is compared with the extended Kalman filter (EKF) by computer simulations.

Original languageEnglish
Article number5779707
Pages (from-to)2660-2665
Number of pages6
JournalIEEE Transactions on Automatic Control
Volume56
Issue number11
DOIs
Publication statusPublished - 2011 Nov 1

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Keywords

  • Extended Kalman filter
  • motion recovery
  • nonlinear system
  • observer
  • perspective observation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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