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dc.contributor.authorNath, Nitendra
dc.contributor.authorDawson, Darren M.
dc.contributor.authorTatlıcıoğlu, Enver
dc.date.accessioned2017-02-10T08:04:55Z
dc.date.available2017-02-10T08:04:55Z
dc.date.issued2012-03
dc.identifier.citationNath, N., Dawson, D. M., and Tatlıcıoğlu, E. (2012). Euclidean position estimation of static features using a moving uncalibrated camera. IEEE Transactions on Control Systems Technology, 20(2), 480-485. doi:10.1109/TCST.2011.2120610en_US
dc.identifier.issn1063-6536
dc.identifier.urihttp://doi.org/10.1109/TCST.2011.2120610
dc.identifier.urihttp://hdl.handle.net/11147/4828
dc.description.abstractIn this paper, a novel Euclidean position estimation technique using a single uncalibrated camera mounted on amoving platform is developed to asymptotically recover the 3-D Euclidean position of static object features. The position of the moving platform is assumed to be measurable, and a second object with known 3-D Euclidean coordinates relative to theworld frame is considered to be available a priori. To account for the unknown camera calibration parameters and to estimate the unknown 3-D Euclidean coordinates, an adaptive least squares estimation strategy is employed based on prediction error formulations and a Lyapunovtype stability analysis. The developed estimator is shown to recover the 3-D Euclidean position of the unknown object features despite the lack of knowledge of the camera calibration parameters. Numerical simulation results along with experimental results are presented to illustrate the effectiveness of the proposed algorithm. © 2011 IEEE.en_US
dc.description.sponsorshipDOE and Honda Corporationen_US
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.relation.isversionof10.1109/TCST.2011.2120610en_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectEstimationen_US
dc.subjectLeast squares estimationen_US
dc.subjectLyapunov methodsen_US
dc.subjectNonlinear systemsen_US
dc.subjectPerspective vision systemsen_US
dc.titleEuclidean position estimation of static features using a moving uncalibrated cameraen_US
dc.typearticleen_US
dc.contributor.authorIDTR123720en_US
dc.contributor.iztechauthorTatlıcıoğlu, Enver
dc.relation.journalIEEE Transactions on Control Systems Technologyen_US
dc.contributor.departmentİYTE, Mühendislik Fakültesi, Elektrik-Elektronik Mühendisliği Bölümüen_US
dc.identifier.volume20en_US
dc.identifier.issue2en_US
dc.identifier.startpage480en_US
dc.identifier.endpage485en_US
dc.identifier.wosWOS:000302694800019
dc.identifier.scopusSCOPUS:2-s2.0-84856558790


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