A switched systems approach to vision-based localization of a target with intermittent measurements

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

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations

Abstract

Switched systems theory is used to analyze the stability of vision-based observers for 3D localization of objects in a scene. Observers or filters that are exponentially stable under persistent observability may have unbounded error growth under intermittent sensing loss, even while providing seemingly accurate state estimates. Therefore, conditions are developed based on an average dwell time criteria to guarantee state error convergence with a known decay rate. In cases where sensing is controllable, these conditions relax path constraints for visual servoing applications. The conditions are developed in a general form, applicable to any exponentially stable observer, and utilize object motion knowledge to maximize the allowable time spent in stabilizable, but unobservable, periods.

Original languageEnglish
Title of host publicationACC 2015 - 2015 American Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4443-4448
Number of pages6
ISBN (Electronic)9781479986842
DOIs
StatePublished - 28 Jul 2015
Event2015 American Control Conference, ACC 2015 - Chicago, United States
Duration: 1 Jul 20153 Jul 2015

Publication series

NameProceedings of the American Control Conference
Volume2015-July
ISSN (Print)0743-1619

Conference

Conference2015 American Control Conference, ACC 2015
CountryUnited States
CityChicago
Period1/07/153/07/15

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