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Conference Paper: Featureless visual tracking based on non-vector space control theory

TitleFeatureless visual tracking based on non-vector space control theory
Authors
KeywordsImage based control
Shape directional derivative
Mutation analysis
Visual tracking
Issue Date2014
Citation
IFAC Proceedings Volumes (IFAC-PapersOnline), 2014, v. 19, p. 7318-7323 How to Cite?
Abstract© IFAC. This paper proposes a featureless visual target tracking approach based on non-vector space control theory. By considering the image as a set with pixels as its elements, the visual tracking problem could be treated as the mutation control between an initial image set and a prescribed target image set, then the motion of the robot can be reflected in the dynamic of the image set. Based on mutation analysis over sets, a shape functional describing the difference between two dynamic sets is defined, the directional derivative of this shape functional is derived and a Lyapunov function is constructed to design a controller to make an initial image set to track a moving goal image set, thereby steering the robot to follow the motion of the target. A 2-dimensional translation motion case is employed as an example to illustrate the feasibility of the proposed approach.
Persistent Identifierhttp://hdl.handle.net/10722/212644
ISSN

 

DC FieldValueLanguage
dc.contributor.authorHuang, Hailin-
dc.contributor.authorZhao, Jianguo-
dc.contributor.authorXi, Ning-
dc.date.accessioned2015-07-28T04:04:33Z-
dc.date.available2015-07-28T04:04:33Z-
dc.date.issued2014-
dc.identifier.citationIFAC Proceedings Volumes (IFAC-PapersOnline), 2014, v. 19, p. 7318-7323-
dc.identifier.issn1474-6670-
dc.identifier.urihttp://hdl.handle.net/10722/212644-
dc.description.abstract© IFAC. This paper proposes a featureless visual target tracking approach based on non-vector space control theory. By considering the image as a set with pixels as its elements, the visual tracking problem could be treated as the mutation control between an initial image set and a prescribed target image set, then the motion of the robot can be reflected in the dynamic of the image set. Based on mutation analysis over sets, a shape functional describing the difference between two dynamic sets is defined, the directional derivative of this shape functional is derived and a Lyapunov function is constructed to design a controller to make an initial image set to track a moving goal image set, thereby steering the robot to follow the motion of the target. A 2-dimensional translation motion case is employed as an example to illustrate the feasibility of the proposed approach.-
dc.languageeng-
dc.relation.ispartofIFAC Proceedings Volumes (IFAC-PapersOnline)-
dc.subjectImage based control-
dc.subjectShape directional derivative-
dc.subjectMutation analysis-
dc.subjectVisual tracking-
dc.titleFeatureless visual tracking based on non-vector space control theory-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-84929773747-
dc.identifier.volume19-
dc.identifier.spage7318-
dc.identifier.epage7323-

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