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 | |
| 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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Cite this
Chen, X., & Kano, H. (2011). Motion recovery by using stereo perspective observation. IEEE Transactions on Automatic Control, 56(11), 2660-2665. [5779707]. https://doi.org/10.1109/TAC.2011.2158169