NDLI: State estimation for continuous-time systems with perspective outputs from discrete noisy time-delayed measurements

Content Provider	IEEE Xplore Digital Library
Author	Aguiar, A.P. Hespanha, J.P.
Copyright Year	2004
Description	Author affiliation: Department of Electrical and Computer Engineering, University of California, Santa Barbara, CA 93106-9560, USA (Aguiar, A.P.; Hespanha, J.P.)
Abstract	This paper addresses the state estimation of continuous-time systems with perspective outputs, whose measurements arrive at discrete-time instants, are time-delayed, noisy, and may not be complete. Resorting to dynamic programming, we derive a minimum-energy estimator which produces an estimate of the state that is ¿most compatible¿ with the dynamics, in the sense that it requires the least amount of noise energy to explain the measured outputs. The state-estimator has the desired property that, under suitable observability assumptions, the estimate converges asymptotically to the true value of the state in the absence of noise and disturbance. In the presence of noise, the estimate remains bounded away from the true value of the state. We apply these results to the estimation of position and orientation for a mobile robot that uses a monocular chargedcoupled- device (CCD) camera mounted on-board to observe the apparent motion of stationary points. In the context of our application, the estimator can deal directly with the usual problems associated with vision systems such as noise, latency and intermittency of observations. Experimental results are presented and discussed.
Starting Page	3126
Ending Page	3131
File Size	317855
Page Count	6
File Format	PDF
ISBN	0780386825
ISSN	01912216
DOI	10.1109/CDC.2004.1428948
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-12-14
Publisher Place	Bahamas
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	State estimation Motion estimation Cameras Noise measurement Robot vision systems Mobile robots Charge coupled devices Charge-coupled image sensors Dynamic programming Observability
Content Type	Text
Resource Type	Article

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