Real-time vision-based 3D motion estimation system for positioning and trajectory following

Shahriar Negahdaripour, L. Jin, X. Xu, C. Tsukamoto, J. Yuh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations

Abstract

We present a real-time vision-based system for automatic positioning and trajectory following, based on a direct method for 3D motion estimation. The spatio-temporal derivatives of the image function, calculated from time-varying imagery, are used to directly calculate the motion and position of the camera. For demonstration, we have implemented the system on a one-degree-of freedom thruster operating in a laboratory water tank. The estimated position information is communicated to the control system, a PID controller, in order to generate the appropriate signal to correct the thruster system's position. The performance of the vision system is demonstrated in selected experiments by comparing results with the data from an optical encoder position sensor.

Original languageEnglish
Title of host publicationIEEE Workshop on Applications of Computer Vision - Proceedings
Editors Anon
Place of PublicationLos Alamitos, CA, United States
PublisherIEEE
Pages264-269
Number of pages6
StatePublished - Dec 1 1996
EventProceedings of the 1996 3rd IEEE Workshop on Applications of Computer Vision, WACV'96 - Sarasota, FL, USA
Duration: Dec 2 1996Dec 4 1996

Other

OtherProceedings of the 1996 3rd IEEE Workshop on Applications of Computer Vision, WACV'96
CitySarasota, FL, USA
Period12/2/9612/4/96

    Fingerprint

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Electrical and Electronic Engineering

Cite this

Negahdaripour, S., Jin, L., Xu, X., Tsukamoto, C., & Yuh, J. (1996). Real-time vision-based 3D motion estimation system for positioning and trajectory following. In Anon (Ed.), IEEE Workshop on Applications of Computer Vision - Proceedings (pp. 264-269). IEEE.