Title :
A sliding mode approach to visual motion estimation
Author :
Dogan, Eray ; Yilmaz, Burak ; Unel, Mustafa ; Sabanovic, Asif
Author_Institution :
Fac. of Eng. & Natural Sci., Sabanci Univ., Istanbul
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 identification 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
Keywords :
computer vision; image sequences; motion estimation; observers; parameter estimation; variable structure systems; CCD camera; dynamical systems; equivalent control; identification; image sequences; linear image feature dynamics recasting; machine vision; moving body; parameter estimation; sliding mode approach; sliding mode observers; time varying parameters; visual motion estimation; Cameras; Geometry; Layout; Machine vision; Motion analysis; Motion estimation; Parameter estimation; Sliding mode control; Solid modeling; Time varying systems;
Conference_Titel :
Advanced Motion Control, 2006. 9th IEEE International Workshop on
Conference_Location :
Istanbul
Print_ISBN :
0-7803-9511-1
DOI :
10.1109/AMC.2006.1631751