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Position based structure from motion using a moving calibrated camera

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3 Author(s)
Nitendra Nath ; Department of Electrical & Computer Engineering, Clemson University, SC 29634-0915, USA ; David Braganza ; Darren M. Dawson

In this paper, a 3D Euclidean position estimator using a single moving calibrated camera whose position is known is developed that asymptotically recovers the structure of a static object. To estimate the unknown structure an adaptive least squares estimation strategy is employed based on a novel prediction error formulation and a Lyapunov stability analysis. Numerical simulation results are presented to illustrate the effectiveness of the proposed algorithm.

Published in:

2008 American Control Conference

Date of Conference:

11-13 June 2008