title   
  

A sliding mode approach to visual motion estimation

Doğan, Eray and Yılmaz, Burak and Ünel, Mustafa and Şabanoviç, Asif (2006) A sliding mode approach to visual motion estimation. In: 9th International Workshop on Advanced Motion Control, Istanbul, Turkey

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Official URL: http://dx.doi.org/10.1109/AMC.2006.1631751

Abstract

The problem of estimating motion from a sequence of images has been a major research theme in machine vision for many years and remains one of the most challenging ones. In this work, we use sliding mode observers to estimate the motion of a moving body with the aid of a CCD camera. We consider a variety of dynamical systems which arise in machine vision applications and develop a novel identication procedure for the estimation of both constant and time varying parameters. The basic procedure introduced for parameter estimation is to recast image feature dynamics linearly in terms of unknown parameters and construct a sliding mode observer to produce asymptotically correct estimates of the observed image features, and then use “equivalent control” to explicitly compute parameters. Much of our analysis has been substantiated by computer simulations and real experiments.

Item Type:Papers in Conference Proceedings
Subjects:T Technology > TJ Mechanical engineering and machinery
ID Code:1228
Deposited By:Eray Doğan
Deposited On:08 Feb 2007 02:00
Last Modified:25 May 2011 14:23

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