Sampled visual feedback pose estimation and regulation based on camera frame rates
This paper presents visual feedback 3D pose estimation/regulation methodologies in the sampled data setting by camera frame rates. Vision-based estimation/control problems have been studied by a number of research groups. While most works focus on the limitation of measured outputs, they conduct con...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Taylor & Francis Group
2023-12-01
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| Series: | SICE Journal of Control, Measurement, and System Integration |
| Subjects: | |
| Online Access: | http://dx.doi.org/10.1080/18824889.2023.2247853 |
| _version_ | 1797366037687042048 |
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| author | Tatsuya Ibuki Satoshi Nakano Shunsuke Shigaki Takeshi Hatanaka |
| author_facet | Tatsuya Ibuki Satoshi Nakano Shunsuke Shigaki Takeshi Hatanaka |
| author_sort | Tatsuya Ibuki |
| collection | DOAJ |
| description | This paper presents visual feedback 3D pose estimation/regulation methodologies in the sampled data setting by camera frame rates. Vision-based estimation/control problems have been studied by a number of research groups. While most works focus on the limitation of measured outputs, they conduct convergence/performance analysis under the assumption that visual measurements extracted from a camera are continuously available. However, the camera frame rates including image processing time often cannot be neglected compared with other computation time. In view of this fact, this paper newly proposes visual feedback pose estimation/regulation techniques under the situation that visual measurements are sampled due to the frame rates. The problem settings are first provided. Then, the pose estimation/regulation methods with sampled visual measurements are proposed. The convergence/performance analysis is conducted by the fusion of a Lyapunov-based approach and an event-triggered control technique. The present analysis scheme provides us guidelines for the design of estimation/control gains guaranteeing desired convergence/performance. The effectiveness of the present technique is verified via simulation and an experiment with real hardware. |
| first_indexed | 2024-03-08T16:59:33Z |
| format | Article |
| id | doaj.art-08aa23fc89e5402a8aab8202e50b5d7c |
| institution | Directory Open Access Journal |
| issn | 1884-9970 |
| language | English |
| last_indexed | 2024-03-08T16:59:33Z |
| publishDate | 2023-12-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | SICE Journal of Control, Measurement, and System Integration |
| spelling | doaj.art-08aa23fc89e5402a8aab8202e50b5d7c2024-01-04T15:59:08ZengTaylor & Francis GroupSICE Journal of Control, Measurement, and System Integration1884-99702023-12-0116129730910.1080/18824889.2023.22478532247853Sampled visual feedback pose estimation and regulation based on camera frame ratesTatsuya Ibuki0Satoshi Nakano1Shunsuke Shigaki2Takeshi Hatanaka3Meiji UniversityNagoya Institute of TechnologyNational Institute of InformaticsTokyo Institute of TechnologyThis paper presents visual feedback 3D pose estimation/regulation methodologies in the sampled data setting by camera frame rates. Vision-based estimation/control problems have been studied by a number of research groups. While most works focus on the limitation of measured outputs, they conduct convergence/performance analysis under the assumption that visual measurements extracted from a camera are continuously available. However, the camera frame rates including image processing time often cannot be neglected compared with other computation time. In view of this fact, this paper newly proposes visual feedback pose estimation/regulation techniques under the situation that visual measurements are sampled due to the frame rates. The problem settings are first provided. Then, the pose estimation/regulation methods with sampled visual measurements are proposed. The convergence/performance analysis is conducted by the fusion of a Lyapunov-based approach and an event-triggered control technique. The present analysis scheme provides us guidelines for the design of estimation/control gains guaranteeing desired convergence/performance. The effectiveness of the present technique is verified via simulation and an experiment with real hardware.http://dx.doi.org/10.1080/18824889.2023.2247853vision-based controlrigid body motionpassivityevent-triggered controlsampled data setting |
| spellingShingle | Tatsuya Ibuki Satoshi Nakano Shunsuke Shigaki Takeshi Hatanaka Sampled visual feedback pose estimation and regulation based on camera frame rates SICE Journal of Control, Measurement, and System Integration vision-based control rigid body motion passivity event-triggered control sampled data setting |
| title | Sampled visual feedback pose estimation and regulation based on camera frame rates |
| title_full | Sampled visual feedback pose estimation and regulation based on camera frame rates |
| title_fullStr | Sampled visual feedback pose estimation and regulation based on camera frame rates |
| title_full_unstemmed | Sampled visual feedback pose estimation and regulation based on camera frame rates |
| title_short | Sampled visual feedback pose estimation and regulation based on camera frame rates |
| title_sort | sampled visual feedback pose estimation and regulation based on camera frame rates |
| topic | vision-based control rigid body motion passivity event-triggered control sampled data setting |
| url | http://dx.doi.org/10.1080/18824889.2023.2247853 |
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