전기학회논문지 (The Transactions of The Korean Institute of Electrical Engineers)

  • 제65권12호
  • /
  • Pages.2057-2060
  • /
  • 2016
  • /
  • 1975-8359(pISSN)
  • /
  • 2287-4364(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지
DOI QR코드

DOI QR Code

카메라를 이용한 3차원 공간상의 이동 목표물의 거리정보기반 모션추정

Motion Estimation of a Moving Object in Three-Dimensional Space using a Camera

  • Chwa, Dongkyoung (Dept. of Electrical and Computer Engineering, Ajou University)
  • 투고 : 2016.11.09
  • 심사 : 2016.11.14
  • 발행 : 2016.12.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

Range-based motion estimation of a moving object by using a camera is proposed. Whereas the existing results constrain the motion of an object for the motion estimation of an object, the constraints on the motion is relieved in the proposed method in that a more generally moving object motion can be handled. To this end, a nonlinear observer is designed based on the relative dynamics between the object and camera so that the object velocity and the unknown camera velocity can be estimated. Stability analysis and simulation results for the moving object are provided to show the effectiveness of the proposed method.

키워드

참고문헌

  1. Y. Yakimovsky and R. Cunningham, "A System for extracting three-dimensional measurements from a stereo pair of TV cameras," Computer Graphics and Image Processing, vol. 7, no. 2, pp. 195-210, Apr. 1978. https://doi.org/10.1016/0146-664X(78)90112-0
  2. S. T. Barnard and M. A. Fischler, "Computational stereo," ACM Computing Surveys, vol. 14, no. 4, pp. 553-572, Dec. 1982. https://doi.org/10.1145/356893.356896
  3. Y. Ma, S. Soatto, J. Kosecka, and S. Sastry, An Invitation to 3-D Vision, Springer, 2004.
  4. M. Aranda, G. Lopez-Nicolas, Carlos Sagues, and Youcef Mezouar, "Formation Control of Mobile Robots Using Multiple Aerial Cameras," IEEE Transactions on Robotics, Vol. 31, No. 4, pp. 1064-1071, Aug. 2015. https://doi.org/10.1109/TRO.2015.2452777
  5. N. Gans and S. A. Hutchinson, "Stable Visual Servoing Through Hybrid Switched-System Control, IEEE Transactions on Robotics, Vol. 23, No. 3, pp. 530-540, Jun. 2007. https://doi.org/10.1109/TRO.2007.895067
  6. P. Cigliano, V. Lippiello, F. Ruggiero, and B. Siciliano, "Robotic Ball Catching with an Eye-in-Hand Single-Camera System," IEEE Transactions on Control Systems Technology, Vol. 23, No. 5, pp. 1657-1671, Sep. 2015. https://doi.org/10.1109/TCST.2014.2380175
  7. Z. Wang, D.-J. Kim, and A. Behal, "Design of Stable Visual Servoing Under Sensor and Actuator Constraints via a Lyapunov-Based Approach," IEEE Transactions on Control Systems Technology, Vol. 20, No. 6, pp. 1575-1582, Nov. 2012. https://doi.org/10.1109/TCST.2011.2168958
  8. L. Ma, C. Cao, N. Hovakimyan, C. Woolsey, and W. E. Dixon, "Fast Estimation for Range Identification in the Presence of Unknown Motion Parameters," Journal of Applied Mathematics, vol. 75, no. 2, pp. 165-189, Feb. 2010.
  9. G. Hu, D. Aiken, S. Gupta, and W. E. Dixon, "Lyapunov-Based Range Identification for Paracatadioptric System," IEEE Transactions on Automatic Control, vol. 53, no. 7, pp. 1775-1781, Aug. 2008. https://doi.org/10.1109/TAC.2008.928312
  10. D. Chwa, A. Dani, and W. Dixon, "Range and Motion Estimation of a Monocular Camera using Static and Moving Objects," IEEE Transactions on Control Systems Technology, vol. 24, no. 4, pp. 1174-1518, Jul. 2016. https://doi.org/10.1109/TCST.2015.2508001