Masayoshi Matsuoka

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This paper describes an algorithm that tracks and localizes a helicopter using a ground-based trinocular camera array. The three cameras are placed independently in an arbitrary arrangement that allows each camera to view the helicopter's flight volume. The helicopter then flies an unplanned path that allows the cameras to self-survey utilizing an algorithm(More)
This paper describes an algorithm that tracks and localizes a helicopter using a ground-based trinocular camera array. Using background differencing and a Kalman filter, the helicopter is found in each of the camera images. The location of the moving helicopter in each image is then used to self-calibrate the relative positions and orientations of each of(More)
A Self-surveying Camera Array (SSCA) is a vision-based local-area positioning system consisting of multiple ground-deployed cameras that are capable of self-surveying their extrinsic parameters while tracking and localizing a moving target. This paper presents the self-surveying algorithm being used to track a target helicopter in each camera frame and to(More)
I am interested in the agile control of robot motion. This encompasses both analysis (biomechanics, inverse control) and synthesis (integrated motion planning and optimal control). 2008-Present Research Fellow Studying optimal control and planning methods so as to leverage analytic models along with probabilistic system identification for agile system(More)
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