Reduced-order Observer Design for Structure and Motion Estimation

Abstract

The problem of Structure and Motion Estimation in machine vision can be addressed by designing observers for dynamic systems. We propose an observer for feature point depth and camera linear velocity. The camera’s angular velocity is assumed known. As well, we require two feature points with known displacement. Relative to previous work, we do not require linear acceleration measurements. The local exponential stability of the observer is proven using a converse Lyapunov theorem. We assume the camera motion satisfies a persistency of excitation condition and the linear acceleration is bounded and has finite energy.