Euclidean Position Estimation if Features on a Moving Object Using a Single Camera: A Lyapunov-Based Approach

Abstract

In this paper, an adaptive nonlinear estimator is developed to identify the Euclidean coordinates of feature points on a moving object using a single fixed camera. No explicit model is used to describe the movement of the object. Homography-based techniques are used in the development of the object kinematics, while Lyapunov design methods are utilized in the synthesis of the adaptive estimator. Simulation results are included to demonstrate the performance of the estimator.

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Document Details

Document Type
Technical Report
Publication Date
Sep 09, 2004
Accession Number
ADA465810

Entities

People

  • D. M. Dawson
  • Jiayu Chen
  • V. K. Chitrakaran
  • W. E. Dixon

Organizations

  • Clemson University

Tags

Communities of Interest

  • Air Platforms

DTIC Thesaurus Topics

  • Abstracts
  • Algorithms
  • Cameras
  • Computer Stereo Vision
  • Computer Vision
  • Convergence
  • Coordinate Systems
  • Equations
  • Errors
  • Estimators
  • Filters
  • Identification
  • Observers
  • Simulations
  • Simulators
  • Translations
  • Universities

Readers

  • Computer Vision.
  • Robotics and Automation.