Brunovsky's Linear Form of Incremental Structure From Motion

Conventional active incremental structure from motion (ISfM) schemes require a precise knowledge of the linear and angular velocities of the vision system to compute the three-dimensional structure of the observed scene. Furthermore, they are generally coupled and nonlinear, which makes the reconstr...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on robotics 2017-12, Vol.33 (6), p.1491-1499
Main Authors: Tahri, Omar, Boutat, Driss, Mezouar, Youcef
Format: Article
Language:English
Subjects:
Active vision
Angular velocity
Automatic
Brunovsky's linear form
Computer simulation
Decoupling
Engineering Sciences
Nonlinear dynamical systems
observer design
Observers
Robot vision systems
spherical projection
Vision systems
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Conventional active incremental structure from motion (ISfM) schemes require a precise knowledge of the linear and angular velocities of the vision system to compute the three-dimensional structure of the observed scene. Furthermore, they are generally coupled and nonlinear, which makes the reconstruction inaccurate. In this paper, we present a novel active ISfM scheme to overcome these difficulties. It relies on two appropriate transformations: the first one allows efficient decoupling of the nonlinear model, whereas the second one transforms the decoupled model into the Brunovsky's linear form. We then show that a Luenberger's observer can be designed to estimate the unavailable states, making our scheme globally asymptotically convergent and robust to noise on measurements. We present simulated and experimental results to illustrate the performance of the described methodology.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2017.2715344