Range identification of features on an object using a single camera

In this paper, an adaptive nonlinear estimator is developed to identify the range and the 3D 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 an adaptive nonlinear estimator is designed by employing signal filters. Lyapunov design methods are utilized to facilitate the design of the estimator and filters as well as the convergence and stability analysis. The performance of the estimator is demonstrated by simulation results.

[1]  Xinkai Chen,et al.  A new state observer for perspective systems , 2002, IEEE Trans. Autom. Control..

[2]  Kevin L. Moore,et al.  Range identification for perspective dynamic system with single homogeneous observation , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[3]  Warren E. Dixon,et al.  Identification of a moving object's velocity with a fixed camera , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[4]  Warren E. Dixon,et al.  Navigation function based visual servo control , 2005 .

[5]  S. Sastry,et al.  Adaptive Control: Stability, Convergence and Robustness , 1989 .

[6]  Alessandro Astolfi,et al.  A new solution to the problem of range identification in perspective vision systems , 2005, IEEE Transactions on Automatic Control.

[7]  D. Mayne.  Nonlinear and Adaptive Control Design [Book Review] , 1996, IEEE Transactions on Automatic Control.

[8]  Hassan K. Khalil,et al.  Nonlinear Systems Third Edition , 2008 .

[9]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[10]  Olivier Faugeras,et al.  Three-Dimensional Computer Vision , 1993 .

[11]  Xiaoming Hu,et al.  Active state estimation of nonlinear systems , 2004, Autom..

[12]  Olivier Faugeras,et al.  Motion and Structure from Motion in a piecewise Planar Environment , 1988, Int. J. Pattern Recognit. Artif. Intell..

[13]  Warren E. Dixon,et al.  Homography-based visual servo tracking control of a wheeled mobile robot , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[14]  C. Desoer,et al.  Feedback Systems: Input-Output Properties , 1975 .

[15]  Warren E. Dixon,et al.  Adaptive homography-based visual servo tracking for a fixed camera configuration with a camera-in-hand extension , 2005, IEEE Transactions on Control Systems Technology.

[16]  Mark W. Spong,et al.  Robot dynamics and control , 1989 .

[17]  François Chaumette,et al.  2 1/2 D Visual Servoing with Respect to Unknown Objects Through a New Estimation Scheme of Camera Displacement , 2000, International Journal of Computer Vision.

[18]  E. Malis,et al.  2 1/2 D Visual Servoing , 1999 .

[19]  A. Hanson,et al.  Scaled Euclidean 3D reconstruction based on externally uncalibrated cameras , 1995, Proceedings of International Symposium on Computer Vision - ISCV.

[20]  Xinkai Chen,et al.  State observer for a class of nonlinear systems and its application to machine vision , 2004, IEEE Transactions on Automatic Control.

[21]  B. Benhabib,et al.  Tracking of rigid-bodies for autonomous surveillance , 2005, IEEE International Conference Mechatronics and Automation, 2005.

[22]  B. Ghosh,et al.  Visually guided ranging from observations of points, lines and curves via an identifier based nonlinear observer , 1995 .

[23]  Joshua D. Redding,et al.  Vision-based target localization from a fixed-wing miniature air vehicle , 2006, 2006 American Control Conference.

[24]  John Oliensis,et al.  A Critique of Structure-from-Motion Algorithms , 2000, Comput. Vis. Image Underst..

[25]  H. Inaba,et al.  Nonlinear observers for perspective time-invariant linear systems , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[26]  R. Chellappa,et al.  Recursive 3-D motion estimation from a monocular image sequence , 1990 .

[27]  Isaac Kaminer,et al.  Vision-Based Tracking and Motion Estimation for Moving Targets Using Small UAVs , 2006 .