Passivity-based visual motion observer with panoramic camera for pose control

Hiroyuki Kawai*, Toshiyuki Murao, Masayuki Fujita

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

18 Citations (Scopus)


This paper considers the vision-based estimation and pose control with a panoramic camera via passivity approach. First, a hyperbolic projection of a panoramic camera is presented. Next, using standard body-attached coordinate frames (the world frame, mirror frame, camera frame and object frame), we represent the body velocity of the relative rigid body motion (position and orientation). After that, we propose a visual motion observer to estimate the relative rigid body motion from the measured camera data. We show that the estimation error system with a panoramic camera has the passivity which allows us to prove stability in the sense of Lyapunov. The visual motion error system which consists of the estimation error system and the pose control error system preserves the passivity. After that, stability and L 2-gain performance analysis for the closed-loop system are discussed via Lyapunov method and dissipative systems theory, respectively. Finally, simulation and experimental results are shown in order to confirm the proposed method.

Original languageEnglish
Pages (from-to)561-583
Number of pages23
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number3-4
Publication statusPublished - 2011 Dec


  • Lyapunov stability
  • Panoramic camera
  • Passivity
  • Visual feedback control

ASJC Scopus subject areas

  • Artificial Intelligence
  • Software
  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering


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