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

@article{Parikh2017ASS,
  title={A Switched Systems Framework for Guaranteed Convergence of Image-Based Observers With Intermittent Measurements},
  author={Anup Parikh and Teng-Hu Cheng and Hsi-Yuan Chen and Warren E. Dixon},
  journal={IEEE Transactions on Robotics},
  year={2017},
  volume={33},
  pages={266-280}
}
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… CONTINUE READING

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