<?xml version="1.0" encoding="UTF-8"?><xml><records><record><source-app name="Biblio" version="6.x">Drupal-Biblio</source-app><ref-type>47</ref-type><contributors><authors><author><style face="normal" font="default" size="100%">Zdeněk Hurák</style></author><author><style face="normal" font="default" size="100%">Martin Řezáč</style></author></authors></contributors><titles><title><style face="normal" font="default" size="100%">Control design for image tracking with an inertially stabilized airborne camera platform</style></title><secondary-title><style face="normal" font="default" size="100%">Proc. SPIE Automatic Target Recognition XX; Acquisition, Tracking, Pointing, and Laser Systems Technologies XXIV; and Optical Pattern Recognition XXI</style></secondary-title></titles><dates><year><style  face="normal" font="default" size="100%">2010</style></year><pub-dates><date><style  face="normal" font="default" size="100%">April</style></date></pub-dates></dates><urls><web-urls><url><style face="normal" font="default" size="100%">http://dx.doi.org/10.1117/12.849902</style></url></web-urls></urls><publisher><style face="normal" font="default" size="100%">SPIE</style></publisher><pub-location><style face="normal" font="default" size="100%">Orlando, Florida, USA</style></pub-location><volume><style face="normal" font="default" size="100%">7696</style></volume><abstract><style face="normal" font="default" size="100%">&lt;p&gt;The paper reports on a few control engineering issues related to design  and implementation of an image-based pointing and tracking system for an  inertially stabilized airborne camera platform. A medium-sized platform  has been developed by the authors and a few more team members within a  joint governmental project coordinated by Czech Air Force Research  Institute. The resulting experimental platform is based on a common  double gimbal configuration with two direct drive motors and  off-the-shelf MEMS gyros. Automatic vision-based tracking system is  built on top of the inertial stabilization. Choice of a suitable control  configuration is discussed first, because the decoupled structure for  the inner inertial rate controllers does not extend easily to the outer  imagebased pointing and tracking loop. It appears that the pointing and  tracking controller can benefit much from availability of measurements  of an inertial rate of the camera around its optical axis. The proposed  pointing and tracking controller relies on feedback linearization well  known in image-based visual servoing. Simple compensation of a one  sample delay introduced into the (slow) visual pointing and tracking  loop by the computer vision system is proposed. It relies on a simple  modification of the well-known Smith predictor scheme where the  prediction takes advantage of availability of the (fast and undelayed)  inertial rate measurements.&lt;/p&gt;</style></abstract><custom1><style face="normal" font="default" size="100%">&lt;p&gt;ff&lt;/p&gt;</style></custom1><custom2><style face="normal" font="default" size="100%">&lt;p&gt;&lt;span class=&quot;proc-title&quot;&gt;Automatic Target Recognition XX; Acquisition,  Tracking, Pointing, and Laser Systems Technologies XXIV; and Optical  Pattern Recognition XXI&lt;/span&gt;&lt;/p&gt;</style></custom2></record></records></xml>