Accession Number:

ADA465810

Title:

Euclidean Position Estimation if Features on a Moving Object Using a Single Camera: A Lyapunov-Based Approach

Descriptive Note:

Technical report

Corporate Author:

CLEMSON UNIV SC DEPT OF ELECTRICAL AND COMPUTER ENGINEERING

Personal Author(s):

• Chitrakaran, V. K.
• Dawson, D. M.
• Chen, J.
• Dixon, W. E.

Report Date:

2004-09-09

Pagination or Media Count:

13.0

Abstract:

In this paper, an adaptive nonlinear estimator is developed to identify the Euclidean coordinates of feature points on a moving object using a single fixed camera. No explicit model is used to describe the movement of the object. Homography-based techniques are used in the development of the object kinematics, while Lyapunov design methods are utilized in the synthesis of the adaptive estimator. Simulation results are included to demonstrate the performance of the estimator.

Descriptors:

• *MOVING TARGETS
• *LYAPUNOV FUNCTIONS
• KINEMATICS
• VELOCITY
• COMPUTER VISION
• CAMERAS
• MATHEMATICAL MODELS

Subject Categories:

• Operations Research
• Cybernetics
• Optical Detection and Detectors

Distribution Statement:

APPROVED FOR PUBLIC RELEASE