The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Motion Estimation of a Moving Object in Three-Dimensional Space using a Camera

카메라를 이용한 3차원 공간상의 이동 목표물의 거리정보기반 모션추정

  • Chwa, Dongkyoung (Dept. of Electrical and Computer Engineering, Ajou University)
  • Received : 2016.11.09
  • Accepted : 2016.11.14
  • Published : 2016.12.01
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Abstract

Range-based motion estimation of a moving object by using a camera is proposed. Whereas the existing results constrain the motion of an object for the motion estimation of an object, the constraints on the motion is relieved in the proposed method in that a more generally moving object motion can be handled. To this end, a nonlinear observer is designed based on the relative dynamics between the object and camera so that the object velocity and the unknown camera velocity can be estimated. Stability analysis and simulation results for the moving object are provided to show the effectiveness of the proposed method.

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References

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