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Title
Japanese: 
English:Frame Rate-based Discrete Visual Feedback Pose Regulation: A Passivity Approach 
Author
Japanese: 伊吹 竜也, Johannes R. Walter, 畑中 健志, 藤田 政之.  
English: Tatsuya Ibuki, Johannes R. Walter, Takeshi Hatanaka, Masayuki Fujita.  
Language English 
Journal/Book name
Japanese: 
English:Proceedings of the 19th World Congress of the International Federation of Automatic Control 
Volume, Number, Page         pp. 11171-11176
Published date Aug. 24, 2014 
Publisher
Japanese: 
English: 
Conference name
Japanese: 
English:19th World Congress of the International Federation of Automatic Control 
Conference site
Japanese: 
English:Cape Town 
DOI https://doi.org/10.3182/20140824-6-ZA-1003.02768
Abstract This paper studies a visual feedback 3D pose regulation problem explicitly handling camera frame rates. Although numerous works have already tackled vision-based estimation/control problems by focusing on the limitation of measured output (2D visual information), almost all of them have assumed that visual measurements of a camera are continuously available. However, camera frame rates and image processing time are often non-negligible compared with other computation time. In view of this fact, we newly propose a discrete visual feedback pose regulation law under the situation that visual measurements are sampled due to frame rates. We first give a sufficient condition of frame rates to achieve a desired relative pose to a static target object. Then, the tracking performance for a moving target is analyzed via the notion of ultimate boundedness. The present analysis provides a guideline for the design of estimation/control gains. We finally show the significance and validity of this work through 3D simulation.

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