Motion estimation of unknown rigid body under no external forces and moments
説明
This paper presents a method to estimate and to predict general three-dimensional motions of an unknown rigid body under no external forces and moments using visual information, which is applicable to autonomous space robotic missions. Four parameters of dynamics and a reference coordinate frame to describe the motion are computed based on the Euler's equation of motion from a sequence of angular velocity vectors extracted from difference of images. Through computer simulations for various kinds of motions the effectiveness and limitation of this method are discussed. >
収録刊行物
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- Proceedings of the 1994 IEEE International Conference on Robotics and Automation
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Proceedings of the 1994 IEEE International Conference on Robotics and Automation 1066-1072, 2002-12-17
IEEE Comput. Soc. Press