Lyapunov-Based Range Identification For A Paracatadioptric System

Many applications require the interpretation of the Euclidean coordinates of features of a 3D object through 2D images. In this paper, the range and the Euclidean coordinates of an object undergoing general affine motion are determined, via a nonlinear observer, for a physically realizable paracatadioptric imaging system. The nonlinear estimator asymptotically determines the range information provided that the Euclidean motion parameters are known. The proposed technique is developed through a Lyapunov-based design and stability analysis, and simulation results are provided that illustrate the performance of the state estimator