Passivity-based Visual Motion Observer with Panoramic Camera for Pose Control
Passivity-based Visual Motion Observer with Panoramic Camera for Pose Control
复制标题
基于被动式的视觉运动观察器，带有用于姿态控制的全景相机
DOI：
10.1007/s10846-011-9557-5
复制
发表时间：
2011
影响因子：
3.3
通讯作者：
M.Fujita
中科院分区：
文献类型：
--
作者：
H.Kawai;T.Murao;M.Fujita
本文考虑了基于视觉的估计和姿态控制与全景相机通过被动的方法。首先，提出了全景相机的双曲线投影。接下来，使用标准的身体附加坐标系（世界坐标系，镜像坐标系，相机坐标系和对象坐标系），我们表示相对刚体运动（位置和方向）的身体速度。在此之后，我们提出了一个视觉运动观测器来估计相对刚体运动从测量的摄像机数据。我们发现，估计误差系统与全景相机的无源性，使我们能够证明稳定的意义上的李雅普诺夫。由估计误差系统和位姿控制误差系统组成的视觉运动误差系统保持无源性。然后分别利用李雅普诺夫方法和耗散系统理论对闭环系统的稳定性和L2增益性能进行了分析。最后，仿真和实验结果，以证实所提出的方法。
This paper considers the vision-based estimation and pose control with a panoramic camera via passivity approach. First, a hyperbolic projection of a panoramic camera is presented. Next, using standard body-attached coordinate frames (the world frame, mirror frame, camera frame and object frame), we represent the body velocity of the relative rigid body motion (position and orientation). After that, we propose a visual motion observer to estimate the relative rigid body motion from the measured camera data. We show that the estimation error system with a panoramic camera has the passivity which allows us to prove stability in the sense of Lyapunov. The visual motion error system which consists of the estimation error system and the pose control error system preserves the passivity. After that, stability andL2-gain performance analysis for the closed-loop system are discussed via Lyapunov method and dissipative systems theory, respectively. Finally, simulation and experimental results are shown in order to confirm the proposed method.