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IBUKI TATSUYA
Department Undergraduate School , School of Science and Technology Position Associate Professor |
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| Language | English |
| Publication Date | 2023/08 |
| Type | Academic Journal |
| Peer Review | Peer reviewed |
| Title | Sampled Visual Feedback Pose Estimation and Regulation Based on Camera Frame Rates |
| Contribution Type | Co-authored (first author) |
| Journal | SICE Journal of Control, Measurement, and System Integration |
| Journal Type | Another Country |
| Publisher | The Society of Instrument and Control Engineers (SICE) |
| Volume, Issue, Page | 16(1),pp.297-309 |
| Total page number | 13 |
| Authorship | Lead author,Corresponding author |
| Author and coauthor | Tatsuya Ibuki, Satoshi Nakano, Shunsuke Shigaki, Takeshi Hatanaka |
| Details | This paper presents visual feedback 3D pose estimation/regulation methodologies under the situation that visual measurements are sampled due to the frame rates. The problem settings are first provided. Then, the pose estimation/regulation methods with sampled visual measurements are proposed. The convergence/performance analysis is conducted by the fusion of a Lyapunov-based approach and an event-triggered control technique. The present analysis scheme provides us guidelines for the design of estimation/control gains guaranteeing desired convergence/performance. The effectiveness of the present technique is verified via simulation and an experiment with real hardware. |