Menu 
VPA
Computer Vision And Pattern Analysis Laboratory Home Page  Home
People  People
Publications  Publications
Publications  Databases
Contact Information  Contact
Research
Supported Research Projects  Supported Research Projects
Research Activites  Research Activites
Research Groups
SPIS - Signal Processing and Information Systems Lab.SPIS - Signal Processing and Information Systems Lab.
Medical Vision and Analysis Group  Medical Research Activities
Biometrics Research Group  Biometrics Research Group
SPIS - Signal Processing and Information Systems Lab.MISAM - Machine Intelligence for Speech Audio and Multimedia.
Knowledge Base
  Paper Library
  VPA Lab Inventory
  Databases in VPALAB
Rigid and Affine Motion Estimation in Vision Using Sliding Mode Observers
Authors: B. Yilmaz, M. Unel, A. Sabanovic
Published in: Proceedings of IEEE International Symposium on Industrial Electronics (ISIE 2005)
Publication year: 2005
Abstract: 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.
 

Home Back