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Conferences > ISA > 2023 > ITh2E > ITh2E.5

A Koopman-Based Reduced-Order Observer using Measurable Visual Image Observables

Jadal Williams and Haruhiko Harry Asada

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Abstract

Standard state observers cannot be applied to nonlinear and non-observable systems. We present a novel Koopman reduced-order observer that extracts directly measurable camera image features to estimate robot end-effector location.

© 2023 The Author(s)

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