This paper deals with the control and the estimation of the visual feedback systems with a fixed camera. Firstly the fundamental representation and the nonlinear observer for the visual feedback system with four coordinate frames is established. Secondly the visual feedback system is composed by the control error system and the estimation error system. Next, we derive the passivity of the visua...

Conventional particle filtering-based visual ego-motion estimation often suffers from large local linearization errors in the case of abrupt camera motion. The main contribution of this paper is to present a novel particle filteringbased visual ego-motion estimation algorithm that is especially robust to the abrupt camera motion. The robustness to the abrupt camera motion is achieved by multi-l...

This article deals with the depth observability problem of a robot visual system with a moving camera. In the visual system, the unknown depth of a feature point is estimated from the input of the camera velocity and the output of the image of the feature point. Although it is well known that the linear velocity of the camera must satisfy some constraints for successful depth estimation, this p...

In this paper, a real-time visual tracking system based on our proposed motion estimation algorithms is developed. The proposed motion estimation algorithm is used to predict the location of target and then generate a control input so as to keep the target stationary in the center of image. The work differs from previous ones in that it is capable to decouple the estimation of motion from the e...