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Estimating Dynamics On-the-Fly Using Monocular Video

[+] Author Affiliations
Priyanshu Agarwal, Suren Kumar, Jason J. Corso, Venkat Krovi

State University of New York at Buffalo, Buffalo, NY

Paper No. DSCC2011-6123, pp. 385-392; 8 pages
doi:10.1115/DSCC2011-6123
From:
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1
  • Arlington, Virginia, USA, October 31–November 2, 2011
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5475-4
  • Copyright © 2011 by ASME

abstract

We present an optimization framework to help estimate on-the-fly both the motion and physical parameters of an articulated multibody system using uncalibrated monocular image sequences. The algorithm takes video images of a physical system as input and estimates the motion together with the physical system parameters, given only the underlying articulated model topology. A valid initial pose of the system is found using a sequential optimization framework and used to bootstrap the successive pose estimation as well as estimation of physical system parameters (kinematic/geometric lengths as well as mass, inertia, damping coefficients). We also address the issue of robustly estimating a dynamically-equivalent system using partial state information (solely from noisy visual observations) and without explicit inertial parameter information. This framework results in a robust dynamically-equivalent system with good predictive capabilities when tested on a double pendulum system.

Copyright © 2011 by ASME

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