Motion recovery by using stereo perspective observation

Xinkai Chen; Hiroyuki Kano

doi:10.1109/TAC.2011.2158169

Motion recovery by using stereo perspective observation

Xinkai Chen, Hiroyuki Kano

Research output: Contribution to journal › Article › peer-review

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 language	English
Article number	5779707
Pages (from-to)	2660-2665
Number of pages	6
Journal	IEEE Transactions on Automatic Control
Volume	56
Issue number	11
DOIs	https://doi.org/10.1109/TAC.2011.2158169
Publication status	Published - 2011 Nov 1

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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