Michael J. Tribou

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A novel real-time pose estimation system is presented for solving the visual SLAM problem using a rigid set of central cameras arranged such that there is no overlap in their fields-of-view. A new parameterization for point feature position using a spherical coordinate update is formulated which isolates system parameters dependent on global scale, allowing(More)
A relative pose and target model estimation framework using calibrated multicamera clusters is presented. It is able to accurately track up-to-date relative motion, including scale, between the camera cluster and the (freemoving) completely unknown target object or environment using only image measurements from a set of perspective cameras. The cameras(More)
This paper presents an observability analysis of the relative pose estimation process used in a planar PositionBased Visual Servoing or visual Simultaneous Localization and Mapping system. The results indicate potentially problematic situations where an estimator may be unable to track the relative pose and target object model based on monocular camera(More)
This work presents a novel path following controller for underactuated unmanned surface vessels (USVs) that is both provably stable and intuitive to tune. The approach consists of a navigation component that computes a desired heading angle to ensure the USV will arrive at the path, and a nonlinear controller to guarantee exponential tracking of surge(More)
An analysis of the relative motion and point feature model configurations leading to solution degeneracy is presented, for the case of a Simultaneous Localization and Mapping system using multicamera clusters with non-overlapping fields-of-view. The SLAM optimization system seeks to minimize image space reprojection error and is formulated for a cluster(More)
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