A switched systems approach to image-based localization of targets that temporarily leave the field of view

Anup Parikh; Teng-Hu Cheng; Ryan Licitra; Warren E. Dixon

doi:10.1109/CDC.2014.7039722

A switched systems approach to image-based localization of targets that temporarily leave the field of view

Anup Parikh, Teng-Hu Cheng, Ryan Licitra, Warren E. Dixon

Department of Mechanical Engineering

Research output: Contribution to journal › Conference article › peer-review

6 Scopus citations

Abstract

Vision sensors provide rich information about the environment and can be utilized for tracking the position of moving objects from a moving camera. This paper presents the development of dwell time conditions to guarantee convergence to an ultimate bound of state estimation errors for a class of vision based observers with intermittent measurements. Bounds are developed on the unstable growth of the estimation errors during the periods when the object being tracked is not visible. A Lyapunov analysis for the switched system is performed to develop an inequality in terms of the duration of time the observer can view the moving object and the duration of time the object is out of the field of view.

Original language	English
Article number	7039722
Pages (from-to)	2185-2190
Number of pages	6
Journal	Proceedings of the IEEE Conference on Decision and Control
Volume	2015-February
Issue number	February
DOIs	https://doi.org/10.1109/CDC.2014.7039722
State	Published - 1 Jan 2014
Event	2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States Duration: 15 Dec 2014 → 17 Dec 2014

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10.1109/CDC.2014.7039722

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title = "A switched systems approach to image-based localization of targets that temporarily leave the field of view",

abstract = "Vision sensors provide rich information about the environment and can be utilized for tracking the position of moving objects from a moving camera. This paper presents the development of dwell time conditions to guarantee convergence to an ultimate bound of state estimation errors for a class of vision based observers with intermittent measurements. Bounds are developed on the unstable growth of the estimation errors during the periods when the object being tracked is not visible. A Lyapunov analysis for the switched system is performed to develop an inequality in terms of the duration of time the observer can view the moving object and the duration of time the object is out of the field of view.",

author = "Anup Parikh and Teng-Hu Cheng and Ryan Licitra and Dixon, {Warren E.}",

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A switched systems approach to image-based localization of targets that temporarily leave the field of view. / Parikh, Anup; Cheng, Teng-Hu; Licitra, Ryan et al.
In: Proceedings of the IEEE Conference on Decision and Control, Vol. 2015-February, No. February, 7039722, 01.01.2014, p. 2185-2190.

Research output: Contribution to journal › Conference article › peer-review

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AU - Dixon, Warren E.

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Y1 - 2014/1/1

N2 - Vision sensors provide rich information about the environment and can be utilized for tracking the position of moving objects from a moving camera. This paper presents the development of dwell time conditions to guarantee convergence to an ultimate bound of state estimation errors for a class of vision based observers with intermittent measurements. Bounds are developed on the unstable growth of the estimation errors during the periods when the object being tracked is not visible. A Lyapunov analysis for the switched system is performed to develop an inequality in terms of the duration of time the observer can view the moving object and the duration of time the object is out of the field of view.

AB - Vision sensors provide rich information about the environment and can be utilized for tracking the position of moving objects from a moving camera. This paper presents the development of dwell time conditions to guarantee convergence to an ultimate bound of state estimation errors for a class of vision based observers with intermittent measurements. Bounds are developed on the unstable growth of the estimation errors during the periods when the object being tracked is not visible. A Lyapunov analysis for the switched system is performed to develop an inequality in terms of the duration of time the observer can view the moving object and the duration of time the object is out of the field of view.

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Y2 - 15 December 2014 through 17 December 2014

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A switched systems approach to image-based localization of targets that temporarily leave the field of view

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