Rigid and affine motion estimation in vision using sliding mode observers

Yılmaz, Burak and Ünel, Mustafa and Şabanoviç, Asif (2005) Rigid and affine motion estimation in vision using sliding mode observers. In: IEEE International Symposium on Industrial Electronics, Dubrovnik, Croatia

Full text not available from this repository. (Request a copy)


A "sliding mode observer" based approach to estimate rigid and affine motion of an object is presented in this paper. Two different problems are considered. First the motion is of rigid type and constrained to a plane, and object, e.g. a mobile robot, is viewed using a stationary camera at a fixed certain distance in the normal direction of the motion plane, thus the motion in image plane also being rigid. Then we consider the problem of identifying parameters of an affine motion which may result as the scaled orthographic projection of an almost planar object undergoing 3D rigid motion. In either case, certain number of feature points extracted from the images of the object is used for parameter estimation. Though we know these feature points in every frame, we also construct their estimates, and try to make these estimates follow the actual ones using sliding mode control. It turns out that the control employed in this framework allows us to estimate the motion parameters of the moving object in an elegant way.
Item Type: Papers in Conference Proceedings
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Engineering and Natural Sciences
Depositing User: Mustafa Ünel
Date Deposited: 04 Jan 2006 02:00
Last Modified: 26 Apr 2022 08:36
URI: https://research.sabanciuniv.edu/id/eprint/1410

Actions (login required)

View Item
View Item