同构分解的确定性里卡提观测器

IF 4.9 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS
Ninad Manerikar;Minh-Duc Hua;Tarek Hamel;Claude Samson
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引用次数: 0

摘要

本文提出了一种解决经典同构分解问题的方法。该方法的主要创新点在于设计了两个专门针对同构分解问题的确定性里卡提观测器,而非传统代数方法中采用的逐帧求解方法。通过利用图像序列中的时间相关性和观测器固有的低通响应,所得到的估计结果非常稳健,不易受测量噪声的影响。此外,还进行了全面分析,指出了确保局部指数稳定性的均匀可观测性的充分条件。仿真结果显示了一个宽广的收敛域,并展示了所提出的观测器的有效性能。此外,还提供了实验证据,以说明与经典代数解决方案相比,性能有所提高。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Deterministic Riccati Observers for Homography Decomposition
An approach to tackle the classical problem of homography decomposition is presented. The key novelty lies in the design of two deterministic Riccati observers tailored specifically the homography decomposition problem, departing from the conventional frame-by-frame solving approach employed in traditional algebraic methods. By leveraging the temporal correlation within image sequences and harnessing the inherent low-pass response of the observers, the resulting estimates are robust and less susceptible to measurement noise. Furthermore, a comprehensive analysis pointing out sufficient conditions of uniform observability ensuring local exponential stability is conducted. Simulation results demonstrate a broad convergence domain and showcase the effective performance of the proposed observers. Additionally, experimental evidence is provided to illustrate the improved performance compared to classical algebraic solutions.
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来源期刊
IEEE Transactions on Control Systems Technology
IEEE Transactions on Control Systems Technology 工程技术-工程:电子与电气
CiteScore
10.70
自引率
2.10%
发文量
218
审稿时长
6.7 months
期刊介绍: The IEEE Transactions on Control Systems Technology publishes high quality technical papers on technological advances in control engineering. The word technology is from the Greek technologia. The modern meaning is a scientific method to achieve a practical purpose. Control Systems Technology includes all aspects of control engineering needed to implement practical control systems, from analysis and design, through simulation and hardware. A primary purpose of the IEEE Transactions on Control Systems Technology is to have an archival publication which will bridge the gap between theory and practice. Papers are published in the IEEE Transactions on Control System Technology which disclose significant new knowledge, exploratory developments, or practical applications in all aspects of technology needed to implement control systems, from analysis and design through simulation, and hardware.
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