A Lyapunov-Based Method for Estimation of Euclidean Position of Static Features Using a Single Camera

In this paper, we present the design of an adaptive nonlinear algorithm for estimation of Euclidean position of features in a static environment in the field of view of a monocular camera. The development of the geometric model and camera motion kinematics is based on our previous work in [2]. This paper presents a new alternate approach to estimation of 3D coordinates of feature points that is simpler in mathematical formulation and easier to implement.