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Position based structure from motion using a moving calibrated camera

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3 Author(s)
Nath, N. ; Dept. of Electr. & Comput. Eng., Clemson Univ., Clemson, SC ; Braganza, D. ; Dawson, D.M.

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:

American Control Conference, 2008

Date of Conference:

11-13 June 2008

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