Dynamical Effects of Vision-Based Position Measurement

Laroche, Édouard; Delavigne, Julien

doi:10.3182/20080706-5-kr-1001.01271

Cited by 2 publications

(3 citation statements)

References 13 publications

(12 reference statements)

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“…Complementary details on the assumptions used for deriving this model can be found in [14]. In the case where T e = T c , this model can be easilly simulated and it is possible to account for the model of the camera when identifying a CT model of a process [14].…”

Section: B Global Shutter Modementioning

confidence: 99%

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Dynamical models for position measurement with global shutter and rolling shutter cameras

Laroche

Kagami

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Vision can be used as a sensor for measuring the position of a visual marker. When the displacement of the marker over the camera exposure time is significant, the obtained position measurement is an image of the trajectory over the exposure time. This paper deals with dynamical models providing a prediction of the measurement from the continuous-time trajectory. The first contribution of the paper consists in the development of models for the global shutter and rolling shutter modes with variable exposure time. The second contribution consists in a methodology for the validation of these models. This methodology is used for validating the model of a camera with global shutter mode with full exposure time.

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Section: B Global Shutter Modementioning

confidence: 99%

“…In the case where T e = T c , this model can be easilly simulated and it is possible to account for the model of the camera when identifying a CT model of a process [14]. Hereafter, we develop a simulation model that allows T e ≤ T c .…”

Section: B Global Shutter Modementioning

confidence: 99%

Dynamical models for position measurement with global shutter and rolling shutter cameras

Laroche

Kagami

2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…This paper summarizes several conference papers. The model of a fullshutter mode camera has been initially considered in [12]. In [13], a model of the rolling-shutter mode has been proposed.…”

Section: Introductionmentioning

confidence: 99%

Modeling and compensation of dynamic effects in camera-based position measurement

Laroche

Kagami

Cuvillon

2014

Robotics and Autonomous Systems

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Cameras are used as position sensors for camera-based control or metrology, the goal being to estimate the position of some markers or features. When one of these markers has significant displacement over the exposure time, the measurement delivered by image processing cannot be considered as a sample of the actual trajectory as dynamic effects become effective. In this paper, models are proposed that allow to reproduce accurately the measurements provided by a camera. Various cases are considered: with full or partial exposure time; with global shutter mode or rolling shutter mode. An experimental evaluation in the global shutter case shows the accuracies of the models. When the continuous-time trajectory of a device needs to be reconstructed, these accurate models of the camera-based position measurement can be used in order to improve the trajectory provided by the camera. A methodology based on a hybrid Kalman filter is proposed to solve this general issue. An experimental evaluation is provided for the global shutter case, based on real images inspired from the problem of heart motion reconstruction.

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Dynamical Effects of Vision-Based Position Measurement

Cited by 2 publications

References 13 publications

Dynamical models for position measurement with global shutter and rolling shutter cameras

Dynamical models for position measurement with global shutter and rolling shutter cameras

Modeling and compensation of dynamic effects in camera-based position measurement

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