Structure from Motion in Computationally Constrained Systems

機譯：計算約束系統中的運動結構

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Visual sensing is an attractive method to allow small, palm-sized flying vehicles to navigate complex environments without collisions. Visual processing for unmanned vehicles, however, is typically computationally intense. Insects are able to extract structural information about the environment by appropriate control of self-motion and efficient processing of the visual field. This paper presents a methodology that attempts to capture the insect's ability to do this by constructing a nonlinear observer with provable stability via a Lyapunov analysis. Furthermore, the persistency of excitation condition for the observer illustrates the need for a zig-zagging flight style exhibited by certain insects.

機譯：視覺感應是一種吸引人的方法，可以使小型掌上型飛行器在復雜的環境中導航而不會發生碰撞。然而，對無人駕駛車輛的視覺處理通常在計算上是密集的。昆蟲能夠通過適當控制自身運動和有效處理視野來提取有關環境的結構信息。本文提出了一種方法，該方法試圖通過Lyapunov分析構建具有可證明穩定性的非線性觀測器，從而捕獲昆蟲的能力。此外，對于觀察者而言，激發條件的持久性說明了某些昆蟲表現出的鋸齒狀飛行風格的需要。

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來源
《Micro- and nanotechnology sensors, systems, and applications V ; Flexible electronics》|2013年|87251G.1-87251G.12|共12頁
會議地點 Baltimore MD(US)
作者
Joseph Conroy; J. Sean Humbert;
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作者單位

US Army Research Laboratory, Adelphi, MD, USA;

University of Maryland, College Park, MD, USA;

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原文格式 PDF
正文語種 eng
中圖分類
關鍵詞
optic flow; optical flow; nonlinear observer; micro air vehicle;

機譯：光流光流非線性觀察者微型飛行器;

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3. Controlling Electron Transfer through the Manipulation of Structure and Ligand-Based Torsional Motions: A Computational Exploration of Ruthenium Donor-Acceptor Systems using Density Functional Theory [J] . Meylemans HA, Damrauer NH Inorganic Chemistry: A Research Journal that Includes Bioinorganic, Catalytic, Organometallic, Solid-State, and Synthetic Chemistry and Reaction Dynamics . 2009,第23期

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4. Structure from Motion in Computationally Constrained Systems [C] . Joseph Conroy, J. Sean Humbert Conference on micro- and nanotechnology sensors, systems, and applications V . 2013

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6. Integral Images: Efficient Algorithms for Their Computation and Storage in Resource-Constrained Embedded Vision Systems [O] . Shoaib Ehsan, Adrian F. Clark, Naveed ur Rehman, 2015

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7. Structured computation of optimal controls for constrained cascade systems [O] . Cantoni, M, Farokhi, F, Kerrigan, EC, 2017

機譯：受約束級聯系統最優控制的結構化計算
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Structure from Motion in Computationally Constrained Systems

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