Frame Rate-based Discrete Visual Feedback Pose Regulation: A Passivity Approach

Abstract

This paper studies a visual feedback 3D pose regulation problem explicitly handling camera frame rates. Although numerous works have already tackled vision-based estimation/control problems by focusing on the limitation of measured output (2D visual information), almost all of them have assumed that visual measurements of a camera are continuously available. However, camera frame rates and image processing time are often non-negligible compared with other computation time. In view of this fact, we newly propose a discrete visual feedback pose regulation law under the situation that visual measurements are sampled due to frame rates. We first give a sufficient condition of frame rates to achieve a desired relative pose to a static target object. Then, the tracking performance for a moving target is analyzed via the notion of ultimate boundedness. The present analysis provides a guideline for the design of estimation/control gains. We finally show the significance and validity of this work through 3D simulation.