On Viewpoint Control

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On Viewpoint Control
In this paper a reactive and concurrent control framework for viewpoint control is developed. The viewpoint control task is decomposed into three control objectives namely; obstacle avoidance, visibility and precision. A moving object is tracked in two panoramic sensors using color, and a scalar uncertainty metric of the object position estimate is introduced. Individual control objectives are accomplished by planning paths using harmonic functions and the task is accomplished using a new subject-to composition operator. It is shown that the system is stable under this composition. The system is demonstrated for tracking a human subject using a fixed panoramic sensor and another panoramic sensor mounted on a mobile platform.
S. Uppala, Deepak R. Karuppiah, M. Brewer, S. Chan
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors S. Uppala, Deepak R. Karuppiah, M. Brewer, S. Chandu Ravela, Roderic A. Grupen
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