Camera calibration process is very sensitive to noise. Errors' coming from noisy measurements of the points coordinates, their situation in the world and the calibration algorithm itself creates a deviated solutio...
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ISBN:
(纸本)188933524X
Camera calibration process is very sensitive to noise. Errors' coming from noisy measurements of the points coordinates, their situation in the world and the calibration algorithm itself creates a deviated solution from the real one. Therefore, it is more interesting to obtain the standard deviation and the mean value of a parameter, than only a value. This value is always false because of the input data is corrupted with noise. This standard deviation represents the quality of the computed parameter. In this paper a method to compute this standard deviation of the projection matrix elements is presented. In this case, the projection matrix is computed with the non homogeneous solution based on the least squares technique.
Camera calibration represents an important step in 3D reconstruction process. A lot of linear camera calibration techniques exist which try to compute the camera intrinsic and extrinsic parameters with a close form so...
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ISBN:
(纸本)188933524X
Camera calibration represents an important step in 3D reconstruction process. A lot of linear camera calibration techniques exist which try to compute the camera intrinsic and extrinsic parameters with a close form solution. This close form solution arise form the minimization of a linear cost function. Since the noise in the points' coordinates, the computed parameters are an approximation of the real ones. Therefore, this cost function can include some restrictions in order to improve the robustness of the algorithm. In this paper a summary of the most important linear camera calibration techniques is done. Afterwards, an evaluation of its performance is carried out. This evaluation is done from the point of view of the parameters which have more influence in the results. These are the number of points and the noise level.
Because of the great importance of vision systems in the process automation of industrial environments, and also of the possibilities of distributed systems, a new way of thinking about vision systems has started: dis...
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ISBN:
(纸本)188933524X
Because of the great importance of vision systems in the process automation of industrial environments, and also of the possibilities of distributed systems, a new way of thinking about vision systems has started: distributed vision systems. This paper deals with the design and analysis of a distributed 3D vision system. The system is composed by a set of autonomous subsystems performing certain concrete tasks. The analysis phase consists of implementing an application to evaluate this architecture.
This work presents the BDU technique (Bounded Data Uncertainties) and the tuning of the linear quadratic regulator (LQR) via this technique, which considers models with bounded uncertainties. The BDU method is based o...
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This work presents the BDU technique (Bounded Data Uncertainties) and the tuning of the linear quadratic regulator (LQR) via this technique, which considers models with bounded uncertainties. The BDU method is based on constrained game-type formulations, and allows the designer to explicitly incorporate a priori information about bounds on the sizes of the uncertainties into the problem statement. Thus, on the one hand the uncertainty effect is not over-emphasized, avoiding an overly conservative design and on the other hand the uncertainty effect is not under-emphasized, avoiding an overly sensitive to errors design. A feature of this technique consists of its geometric interpretation. The structure of the paper is the following, in the first section some problems about the least-squares method in the presence of uncertainty are introduced. The BDU technique is shown in the second section and the LQR controller in the third. After that a new guided way of tuning the LQR is offered, taking into account the uncertainties bounds via the BDU. The consequence of this method is that both recursive and algebraic Riccati equations are modified. Finally, some examples are shown and the main conclusiones and future work are commented.
In this article, a procedure for characterizing the feasible parameter set of nonlinear models with a membership-set uncertainty description is provided. A specific Genetic Algorithm denominated Ε-GA has been develop...
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In this article, a procedure for characterizing the feasible parameter set of nonlinear models with a membership-set uncertainty description is provided. A specific Genetic Algorithm denominated Ε-GA has been developed, based on Evolutionary Algorithm for Multiobjective Optimization, to find the global minima of the multimodal functions appeared when the robust identification problem is formulated. These global minima define the contour of the feasible parameter set. The procedure let someone to obtain the feasible parameter non-convex even disjoint set. It is not necessary for the model to be differentiable respect to the unknown parameters. It is presented an example which determines the feasible parameter set of a nonlinear model of a thermal process. In this case, noise is affecting to the output process (interior temperature) and besides model errors exist.
The synthesis of controllers with robust performance is addressed. Tracking specifications are defined by a family of reference models describing the desired frequency response. The synthesis problem is then formulate...
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The paper at hand describes a type of fedbatch experiment for parameter estimation of non-structured microbial growth models during growth of biomass in stirred-tank bioreactors. The solution is based on the stabiliza...
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In this paper a kind of non-conventional controllers is presented. Concretely, it deals with minimum time and finite time algebraic controllers. In general, the non-conventional controllers must he used when, due to s...
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In this paper a kind of non-conventional controllers is presented. Concretely, it deals with minimum time and finite time algebraic controllers. In general, the non-conventional controllers must he used when, due to several aspects (resource sharing, task priorities, etc), delays appear in a real-time control system. In consequence, firstly, the process must be modelled in a nonconventional way. Later, a non-conventional controller can he designed, which generates correct control actions according to the time instant in which they arrive to the process.
Because of the great importance of vision systems in the process automation or industrial environments, and also of the possibilities of distributed systems, a new way of thinking about vision systems has started: dis...
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Because of the great importance of vision systems in the process automation or industrial environments, and also of the possibilities of distributed systems, a new way of thinking about vision systems has started: distributed vision systems. This paper deals with the design arid analysis of n distributed 3 D vision system. The system is composed by a set of autonomous subsystems performing certain concrete tasks. The analysis phase consists of implement an application to evaluate this architecture.
Camera calibration represents an important step in 3U reconstruction process. A lot of linear camera calibration techniques exist which try to compute the camera intrinsic and extrinsic parameters with a close form so...
详细信息
Camera calibration represents an important step in 3U reconstruction process. A lot of linear camera calibration techniques exist which try to compute the camera intrinsic and extrinsic parameters with a close form solution. This close form solution arise form the minimization of a linear cost function. Since the noise in the points' coordinates, the computed parameters are an approximation of the real ones. Therefore, this cost function can include some restrictions in order to improve the robustness of the algorithm. In this paper a summary of the most important linear camera calibration techniques is done. Afterwards, an evaluation of its performance is carried out. This evaluation is done from the point of view of the parameters which have more influence in the results. These are the number of points and the noise level.
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