A Lyapunov-Based Method for Estimation of Euclidean Position of Static Features Using a Single Camera

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.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2006
Accession Number
ADA462605

Entities

People

  • Darren M. Dawson
  • Vilas K. Chitrakaran

Organizations

  • Clemson University

Tags

Communities of Interest

  • Air Platforms

DTIC Thesaurus Topics

  • Abstracts
  • Algorithms
  • Autonomous Vehicles
  • Calibration
  • Computations
  • Computer Vision
  • Computers
  • Electronic Mail
  • Environment
  • Estimators
  • Kinematics
  • Simulations
  • Test Beds
  • Translations
  • Two Dimensional
  • Universities
  • Visual Servoing

Fields of Study

  • Computer science

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Robotics and Automation.