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Title: Euclidean position estimation of static features using a moving uncalibrated camera
Authors: Nath, Nitendra
Dawson, Darren M.
Tatlıcıoğlu, Enver
Keywords: Estimation
Least squares estimation
Lyapunov methods
Nonlinear systems
Perspective vision systems
Issue Date: Mar-2012
Publisher: Institute of Electrical and Electronics Engineers Inc.
Source: Nath, N., Dawson, D. M., and Tatlıcıoğlu, E. (2012). Euclidean position estimation of static features using a moving uncalibrated camera. IEEE Transactions on Control Systems Technology, 20(2), 480-485. doi:10.1109/TCST.2011.2120610
Abstract: In this paper, a novel Euclidean position estimation technique using a single uncalibrated camera mounted on amoving platform is developed to asymptotically recover the 3-D Euclidean position of static object features. The position of the moving platform is assumed to be measurable, and a second object with known 3-D Euclidean coordinates relative to theworld frame is considered to be available a priori. To account for the unknown camera calibration parameters and to estimate the unknown 3-D Euclidean coordinates, an adaptive least squares estimation strategy is employed based on prediction error formulations and a Lyapunovtype stability analysis. The developed estimator is shown to recover the 3-D Euclidean position of the unknown object features despite the lack of knowledge of the camera calibration parameters. Numerical simulation results along with experimental results are presented to illustrate the effectiveness of the proposed algorithm. © 2011 IEEE.
ISSN: 1063-6536
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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