Visually guided ranging from observations of points, lines and curves via an identifier based nonlinear observer

Mrdjan Jankovic, Bijoy K. Ghosh

Research output: Contribution to journalArticlepeer-review

132 Scopus citations

Abstract

In this paper we consider the problem of estimating the range information of features on an affine plane in R3 by observing its image with the aid of a CCD camera, wherein we assume that the camera is undergoing a known motion. The features considered are points, lines and planar curves located on planar surfaces of static objects. The dynamics of the moving projections of the features on the image plane have been described as a suitable differential equation on an appropriate feature space. This dynamics is used to estimate feature parameters from which the range information is readily available. In this paper the proposed identification has been carried out via a newly introduced identifier based observer. Performance of the observer has been studied via simulation.

Original languageEnglish
Pages (from-to)63-73
Number of pages11
JournalSystems and Control Letters
Volume25
Issue number1
DOIs
StatePublished - May 8 1995

Keywords

  • Feature correspondence
  • Machine vision
  • Observer design
  • Range estimation

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