A switched systems approach to image-based localization of targets that temporarily leave the field of view

Anup Parikh, Teng-Hu Cheng, Ryan Licitra, Warren E. Dixon

Research output: Contribution to journalConference articlepeer-review

5 Scopus citations

Abstract

Vision sensors provide rich information about the environment and can be utilized for tracking the position of moving objects from a moving camera. This paper presents the development of dwell time conditions to guarantee convergence to an ultimate bound of state estimation errors for a class of vision based observers with intermittent measurements. Bounds are developed on the unstable growth of the estimation errors during the periods when the object being tracked is not visible. A Lyapunov analysis for the switched system is performed to develop an inequality in terms of the duration of time the observer can view the moving object and the duration of time the object is out of the field of view.

Original languageEnglish
Article number7039722
Pages (from-to)2185-2190
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume2015-February
Issue numberFebruary
DOIs
StatePublished - 1 Jan 2014
Event2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States
Duration: 15 Dec 201417 Dec 2014

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