CDC2000 Vision Based Estimation and Control: Recent Advances and Open Problems

Vision Based Estimation and Control: Recent Advances and Open Problems
Home Full List of Titles 1: Proceedings of CDC2000 Discrete Event Systems Control in Communication Systems Optimal Control and Applications I Optimisation Approaches and Methods Model Predictive Control Advances in Linear Estimation Stochastic and Uncertain Systems Nonlinear Control and Applications Nonlinear Estimation and Filtering Formation Control and its Applications New Approaches to Fuzzy Control Manufacturing Systems Automotive Applications Stability Issues in Hybrid Control Recent Advances in Stochastic Networks Optimal Control and Applications II Robust Controller Design - mu, L1 and H2 Constrained and Receding Horizon Control Identification and Control around the World Markov Decision Processes Nonlinear Optimisation Observers for Nonlinear Systems Motion Planning Neural / Fuzzy Stability and Control Motor Control Control of Quantum Phenomena I Hybrid Systems Methods Control in Communication Networks Robustness and Optimisation Bumpless Transfer, Antiwindup and Saturation Adaptive Control: Linear Systems Estimation and Closed Loop Identification Control of Markov Processes Nonlinear Filtering and Control Modelling, Identification and Validation of Nonlinear Systems Differential Geometric Control Theory for Mechanical Systems Nonlinear Output Feedback Control Pneumatics and Compression Systems Control of Quantum Phenomena II Stability of Hybrid Systems Performance Analysis in Communication Networks Adaptive Control of Nonlinear Systems LMI Methods in Design Robust Control of Time Delay Systems Subspace Identification Methods Nonlinear Stochastic Filtering and Estimation Bifurcations, Chaos and Control I New Progress in Synthesis of Nonlinear Systems I Implementation Issues of Sliding Mode Control Theory Control of Mixing in Shear Flows Novel Neural Network Control Techniques for Industrial Motion Control Systems Physiological Control Systems Optimal Control of Hybrid Systems Stochastic Models for Communication Networks Control and Stabilisation of Nonlinear Systems New Directions in Robust Control Linear Systems Theory Advanced Topics in Systems Theory Estimation in Action Bifurcations, Chaos and Control II New Progress in Synthesis of Nonlinear Systems II Numerical Design and Analysis Techniques for Nonlinear Systems Analysis and Control of Underactuated Systems Sliding Mode Control I Challenges in the Application of Control to Computer Systems Estimation and Diagnosis of Discrete Event Systems Communications and Games Optimal Control Stochastic Systems Model Reduction Methodologies Identification and Subspace Methods Applications of Nonlinear Adaptive Control Advances in Nonlinear Output Feedback Design The Behavioural Approach to Systems and Control Vision Based Estimation and Control: Recent Advances and Open Problems Agile Control of Military Operations Sliding Mode Control II Model-based Fault Diagnosis of Industrial Processes Discrete Event Systems / Petri Nets System Identification and Confidence Estimation New Approaches to H-Infinity Control I Probabilistic Approaches to Robust Control Time Delay System Stabilisation Identification Methods Controlled Stochastic Processes Output Feedback of Nonlinear Systems Topics in Nonlinear Stabilisation Mobile Robots: Tracking Control Robust Control of Nonlinear Systems Power Systems Stabilisation and Control Disk Drive Control Hybrid Control Applications Discrete Time Systems New Approaches to H-Infinity Control II Linear Systems with Saturating Actuators New Theories in Distributed Parameter Systems Applications of Estimation and Identification Stochastic Control and Tuning Methodologies Control of Nonlinear Systems Iterative Learning and Control Coordinating Robot Systems Nonlinear Time Varying Systems Novel Applications of Neural Networks Aerospace Applications Switched Systems Implicit and Descriptor Systems LQG Periodic Systems and Disturbances New Horizons for Distributed Parameter Systems State Estimation Learning and Neuro-Control Nonlinear Control and Stabilisation I Tracking Vision Servoing Controllability of Nonlinear Systems Control of Flexible Systems Electro-Mechanical Systems Robust Control Methods and Applications Fault Detection and Diagnosis Optimisation and Applications Robust Stability Analysis Numerical Methods in Control Filtering in Continuous Time Stochastic Systems Interplay between Control and Signal Processing Fault Detection and Analysis Nonlinear Dynamical Systems Nonlinear Time Delay Systems Computational Issues in Nonlinear Control Disturbance Rejection Process Control Industry Applications Linear Parameter Varying Systems Linear Control Systems Dynamic and Nonlinear Programming Model Reduction Applications New Techniques for Control and Systems: Numerical Linear Algebra Estimation and Identification using Hidden Markov Models Applications of Stochastic Control Topics in Linear Design Nonlinear Control and Stabilisation II Ambulatory Robot Systems Chaotic and Oscillatory Systems Biomedical System Control Integrated Control and CPU Scheduling Linear Design Techniques Adaptive Disturbance / Noise Compensation Nonlinear Model Predictive Control Sensitivity Design, Analysis and Limitations Analysis of Linear Systems Linear Matrix Inequalities in Design Lyapunov's 2nd Method Robotics: Tracking Control Lagrangian and Hamiltonian Theory Variable Structure Control Machine Vision Signal Processing Methods in Control Applied Nonlinear Control Author Index A B C D E F G H I J K L M N O P Q R S T U V W X Y Z	Three Dimensional Structure Estimation and Planning with Vision and Range Authors: Li Zhang, Bijoy K. Ghosh, Volume: 1, Page 2515 Paper number 501 Abstract: In this paper, a novel 3D structure estimation approach is proposed. The uniqueness of the approach lies in the fusion of vision and 2D range, which is a common sensor combination for mobile robots. 2D range information can be used for hypothesizing 3D structures, feature association, and improving the estimate accuracy. These problems are difficult to solve if using only vision. The proposed approach will be beneficial to 3D map building application of the mobile robots. Experimental results validate the effectiveness of the approach. CD000501.PDF (From Author) TOP A New Hybrid Image-Based Visual Servo Control Scheme Authors: Peter I. Corke, Seth A. Hutchinson, Volume: 1, Page 2521 Paper number 502 Abstract: In image-based visual servo control, where control is effected with respect to the image, there is no direct control over the Cartesian velocities of the robot end effector. As a result, the robot executes trajectories that are desirable in the image, but which can be indirect and seemingly contorted in Cartesian space. In this paper we describe the cause of these phenomena, and introduce a new partitioned approach to visual servo control that overcomes the problem. In particular, we decouple the z-axis rotational and translational components of the control from the remaining degrees of freedom. Then, to guarantee that all features remain in the image throughout the entire trajectory, we incorporate a potential function that repels feature points from the boundary of the image plane. We illustrate our new control scheme with a variety of simulation results. CD000502.PDF (From Author) TOP Autonomous Landing By Computer Vision: An Application Of Path Following In SE(3) Authors: Ruggero Frezza, Claudio Altafini, Volume: 1, Page 2527 Paper number 503 Abstract: In this paper, we describe a predictive control law for an aircraft autonomous approach to landing based on active vision. The path following problem and the control of the pan-tilt unit that holds the on-board camera are both formulated geometrically in the frameworks of SE(3) and on the sphere S^2. CD000503.PDF (From Author) TOP Single-Camera Visual Servoing Authors: João P. Hespanha, Volume: 1, Page 2533 Paper number 504 Abstract: This paper deals with the problem of driving the position of a point-robot to a goal point, using measurements provided by a single camera. The camera can be moved to compensate for the ambiguity in depth. It is shown that, although the system consisting of the point robot together with the moving camera is observable, there is no output-feedback controller capable of asymptotically stabilizing an equilibrium point of the closed-loop system. However, it is possible to design a controller that drives the robot to the goal, provided that the position of the camera does not converge. We give a hybrid controller---combining logic-based switching with continuous dynamics---that accomplishes this. The stability of the controller is also analyzed when there is miscalibration between the robot and the camera. CD000504.PDF (From Author) TOP Robust Control and Tracking Authors: Allen Tannenbaum, Volume: 1, Page 2539 Paper number 505 Abstract: In this paper, we consider some general ideas for a theory of controlled active vision. We will use as a model problem that of tracking, in particular tracking eye movements. We will indicate that one can treat this problem by using adaptive and robust control in conjunction with multiscale methods from signal processing, and shape recognition theory from computer vision. Tracking is a basic control problem in which we want the output to follow or track a reference signal, or equivalently we want to make the tracking error as small as possible relative to some well-defined criterion (say energy, power, peak value, etc.). Even though tracking in the presence of a disturbance is a classical control issue, the problem at hand is very difficult and challenging because of the highly uncertain nature of the disturbance. There are a number of tracking problems that can easily be considered in a university environment and which could act as benchmarks for testing various algorithms. For example, one could consider the eye movement tracking problem in the context of a man-computer interface. The techniques which we will discuss should have a wide range of applicability in a number of tracking problems including those in robotics, remotely controlled vehicles, and pilot tracking helmets currently being developed. CD000505.PDF (From Author) TOP An LPV Approach to Synthesizing Robust Active Vision Systems Authors: Mario Sznaier, Brian Murphy, Octavia I. Camps, Volume: 1, Page 2545 Paper number 506 Abstract: Recent hardware developments have rendered controlled active vision a viable option for a broad range of practical problems. However, realizing this potential requires having a framework for synthesizing robust active vision systems, capable of moving beyond carefully controlled environments. Recent work has shown that this can be achieved by combining robust computer vision and control techniques. However, in some cases robustness is achieved at the expense of performance. In this paper we show that this performance loss can be avoided by recasting the problem into a Linear Parameter Varying (LPV) form and using recently developed robust identification and control tools for this class of problems. These results are experimentally validated using a Bisight robotic head. CD000506.PDF (From Author) TOP