Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/2456
Title: Range identification for nonlinear parameterizable paracatadioptric systems
Authors: Nath, Nitendra
Dawson, Darren M.
Tatlıcıoğlu, Enver
Keywords: Three dimensional
Lyapunov methods
Nonlinear parameterization
Paracatadioptric systems
Vision-based estimation
Issue Date: 2009
Publisher: Institute of Electrical and Electronics Engineers Inc.
Source: Nath, N., Dawson, D. M., and Tatlıcıoğlu, E. (2009, October 11-14). Range identification for nonlinear parameterizable paracatadioptric systems. Paper presented at the IEEE International Conference on Systems, Man and Cybernetics, SMC 2009. doi:10.1109/ICSMC.2009.5346920
Abstract: In this paper, a new range identification technique for a calibrated paracatadioptric system mounted on a moving platform is developed to recover the range information and the three-dimensional (3D) Euclidean coordinates of a static object feature. The position of the moving platform is assumed to be measurable. To identify the unknown range, first a function of the projected pixel coordinates is related to the unknown 3D Euclidean coordinates of an object feature. This function is nonlinearly parameterized (i.e., the unknown parameters appear nonlinearly in the parameterized model). An adaptive estimator based on a min-max algorithm is then designed to estimate the unknown 3D Euclidean coordinates of an object feature relative to a fixed reference frame which facilitates the identification of range. A Lyapunov-type stability analysis is used to show that the developed estimator provides an estimation of the unknown parameters within a desired precision.
Description: IEEE International Conference on Systems, Man and Cybernetics, SMC 2009; San Antonio, TX; United States; 11 October 2009 through 14 October 2009
URI: http://doi.org/10.1109/ICSMC.2009.5346920
http://hdl.handle.net/11147/2456
ISSN: 1062-922X
1062-922X
Appears in Collections:Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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