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A Switched Systems Framework for Guaranteed Convergence of Image-Based Observers With Intermittent Measurements

机译:交换系统框架,可确保间歇性测量的基于图像的观测器收敛

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Switched systems theory is used to analyze the stability of image-based observers for three-dimensional localization of objects in a scene in the presence of intermittent measurements due to occlusions, feature tracking losses, or a limited camera field of view, for example. Generally, observers or filters that are exponentially stable under persistent measurement availability may have unbounded error growth under intermittent measurement loss, even while providing seemingly accurate state estimates. By constructing a framework that utilizes a state predictor during periods when measurements are not available, a class of image-based observers is shown to be exponentially convergent in the presence of intermittent measurements if an average dwell time, and a total unmeasurability time, condition is satisfied. The conditions are developed in a general form, applicable to any observer that is exponentially convergent assuming persistent visibility, and utilizes object motion knowledge to reduce the amount of time measurements must be available to maintain convergence guarantees. Based on the stability results, simulations are provided to show improved performance compared to a zero-order hold approach, where state estimates are held constant when measurements are not available. Experimental results are also included to verify the theoretical results, to demonstrate applicability of the developed observer and predictor design, and to compare against a typical approach using an extended Kalman filter.
机译:例如,由于存在遮挡,特征跟踪损失或有限的相机视场,因此在存在间歇性测量的情况下,使用交换系统理论分析场景中对象的三维定位的基于图像的观察器的稳定性。通常,即使在提供看似准确的状态估计值的情况下,在持续的测量可用性下呈指数稳定的观察者或过滤器在间歇性的测量损失下也可能会出现无穷大的误差增长。通过构建在没有测量可用的时段内使用状态预测器的框架,如果平均驻留时间和总不可测量时间为条件,则基于图像的观察者类别在间歇性测量的存在下会呈指数收敛。满意。这些条件以通用形式开发,适用于假定持续可见性且呈指数收敛的任何观察者,并利用对象运动知识来减少为保持收敛保证而必须使用的测量时间量。基于稳定性结果,提供了仿真以显示与零阶保持方法相比更高的性能,在零阶保持方法中,当无法进行测量时,状态估计将保持恒定。还包括实验结果,以验证理论结果,证明开发的观测器和预测器设计的适用性,并与使用扩展卡尔曼滤波器的典型方法进行比较。

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