TY - GEN
T1 - Estimating dynamics on-the-fly using monocular video
AU - Agarwal, Priyanshu
AU - Kumar, Suren
AU - Corso, Jason J.
AU - Krovi, Venkat
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84881451134&partnerID=8YFLogxK
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U2 - 10.1115/DSCC2011-6123
DO - 10.1115/DSCC2011-6123
M3 - Conference contribution
AN - SCOPUS:84881451134
SN - 9780791854754
T3 - ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
SP - 385
EP - 392
BT - ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
T2 - ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
Y2 - 31 October 2011 through 2 November 2011
ER -