1 Fujita Laboratory Tokyo Institute of Technology Tokyo Institute of Technology Visual Motion Observer with Target Object Motion Models Takeshi Hatanaka FL seminar April 28, 2011 Fujita Laboratory Tokyo Institute of Technology Tokyo Institute of Technology Experimental Result: Visual Motion Observer x y z 2 or Fujita Laboratory Tokyo Institute of Technology Tokyo Institute of Technology ・ Basis on Rigid Body Motion on SE(3) ・ Passivity-based Visual Motion Observer (VMO) [1] Outline [1] M. Fujita, H. Kawai and M. W. Spong, “Passivity-based Dynamic Visual Feedback Control for Three Dimensional Target Tracking: Stability and L2-gain Performance Analysis,” IEEE TCST, Vol. 15, No. 1, pp. 40-52, 2007. 3 ・ VMO with Target Object Motion Model ・ Concluding Remarks ・ Convergence of Orientation Estimates Point 1: Velocity Feedback as Passivation ・ Convergence of Position Estimates Point 2: Two-stage-proof and Perturbation Theory ・ Class of Velocity Models Point 3: Developments of Software Fujita Laboratory Tokyo Institute of Technology Body Velocity of Vision Camera (41) (42) Body Velocity of Object (43) (44) Body Velocity of Object relative to (45) (46) Vision Camera 4 World Frame Object Frame Vision Camera Frame Pose of Object relative to (39) Vision Camera : Position : Orientation (40) Relative Pose and Body Velocity Fig. 14: Relative Pose and Body Velocity of Object relative to Vision Camera in SE(3) Pose of Vision Camera Pose of Object (37) (38) Fujita Laboratory Tokyo Institute of Technology Tokyo Institute of Technology 5 Relative Rigid Body Motion Object Frame World Frame Vision Camera Frame Relative Rigid Body Motion Body Velocity of Vision Camera Body Velocity of Object Relative Rigid Body Motion Relative Rigid Body Motion Fujita Laboratory Tokyo Institute of Technology Tokyo Institute of Technology 6 Feature Points Fig. 19:Pinhole Camera Model : not measurable World Frame Object Frame World Frame Unknown Vision Camera Frame not measurable Unknown Relative Rigid Body Motion Fig. 18: Block Diagram of Relative Rigid Body Motion with Vision Camera Object’s i-th Feature Point Point Feature (63) i-th Feature Point Points Feature (62)
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Visual Motion Observer with Target Object Motion …...1 Tokyo Institute of Technology Fujita Laboratory Tokyo Institute of Technology Visual Motion Observer with Target Object Motion
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