Motion and shape parameters identification with vision and range

S. Takahashi, B. K. Ghosh

Research output: Contribution to journalConference articlepeer-review

12 Scopus citations

Abstract

In this paper, in order to get the better identification of motion and shape parameters of a plane dynamics, we now consider that we apply the laser range finder data with vision using both of a single laser range finder and a single CCD camera mounted on a mobile robot platform. The laser range finder makes a line on the moving plane along a horizontal laser plane. Namely the laser range finder observes a cross section of the phase as a line. We use this time-varying line information for motion and shape parameter identification problems and show that when we use the laser range finder data with vision as the observation data the dimension of the parameter ambiguity in the only vision case can be reduced.

Original languageEnglish
Pages (from-to)4626-4631
Number of pages6
JournalProceedings of the American Control Conference
Volume6
DOIs
StatePublished - 2001
Event2001 American Control Conference - Arlington, VA, United States
Duration: Jun 25 2001Jun 27 2001

Keywords

  • Machine vision
  • Parameter identification
  • Perspective dynamical systems

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