Velocity and Structure Estimation of a Moving Object Using a Moving Monocular Camera

Abstract

In this paper, we present the development of a vision-based estimator for simultaneous determination of velocity and structure of an object (i.e., the Euclidean position of its feature points) for the general case where both the object and the camera are moving relative to an inertial frame of reference. The velocity estimation itself requires no explicit kinematic model, while the adaptive structure estimator, synthesized utilizing Lyapunov design methods, is built upon kinematic relationships that rely on homography-based techniques.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2006
Accession Number
ADA462627

Entities

People

  • D. M. Dawson
  • H. Kannan
  • Jiayu Chen
  • V. K. Chitrakaran

Organizations

  • Clemson University

Tags

Communities of Interest

  • Air Platforms
  • Sensors
  • Space

DTIC Thesaurus Topics

  • Abstracts
  • Aerial Reconnaissance
  • Algorithms
  • Autonomous Guidance
  • Collision Avoidance
  • Collision Avoidance Systems
  • Equations
  • Estimators
  • Excitation
  • Filters
  • Guidance
  • Inertial Navigation
  • Navigation
  • Reconnaissance Vehicles
  • Relative Motion
  • Three Dimensional
  • Translations

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Computer Vision.
  • Control Systems Engineering.