Estimating dynamics on-the-fly using monocular video

Priyanshu Agarwal, Suren Kumar, Jason J. Corso, Venkat Krovi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

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.

Original languageEnglish
Title of host publicationASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
Pages385-392
Number of pages8
DOIs
StatePublished - 2011
EventASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011 - Arlington, VA, United States
Duration: 31 Oct 20112 Nov 2011

Publication series

NameASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
Volume1

Conference

ConferenceASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
Country/TerritoryUnited States
CityArlington, VA
Period31/10/112/11/11

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