Home >

news Help

Publication Information


Title
Japanese: 
English:Passivity-based Visual Motion Observer Integrating 3D Target Motion Models 
Author
Japanese: 畑中 健志, 藤田 政之.  
English: T. Hatanaka, M. Fujita.  
Language English 
Journal/Book name
Japanese: 
English:SICE Journal of Control, Measurement, and System Integration 
Volume, Number, Page Vol. 5    No. 5    pp. 276-282
Published date Sept. 2012 
Publisher
Japanese: 
English:SICE 
Conference name
Japanese: 
English: 
Conference site
Japanese: 
English: 
DOI https://doi.org/10.9746/jcmsi.5.276
Abstract In this paper, we investigate a vision-based 3D rigid-body motion estimation problem. In one of our previous works, the authors addressed the problem using no prior information on the target motion. On the other hand, this paper presents another approach assuming some target motion patterns. We first consider a constant velocity model, which is a typical choice of motion patterns, and present a novel motion observer integrating the motion model. We then prove based on passivity that the presented observer leads both of the estimates of the target object pose and body velocity to their actual values. Moreover, we extend the result to a more general motion pattern. Finally, the effectiveness of the presented estimation mechanism is demonstrated through experiments.

©2007 Tokyo Institute of Technology All rights reserved.