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Structure estimation of a moving object using a moving camera: An unknown input observer approach

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4 Author(s)
Dani, A.P. ; Dept. of Aerosp. Eng., Univ. of Illinois at Urbana-Champaign, Urbana, IL, USA ; Zhen Kan ; Fischer, N.R. ; Dixon, W.E.

A state observer is designed for estimating the structure of a moving object with time-varying velocities seen by a moving camera. A nonlinear unknown input observer strategy is used where the object's velocity is considered as an unknown input to the perspective dynamical system. The object is assumed to be moving on a ground plane. The downward-looking camera observing the moving object is also moving (e.g., attached to an air vehicle) with known velocities. The developed method provides the first causal, observer-based structure estimation algorithm for a moving camera viewing a moving object with unknown time-varying object velocities.

Published in:

Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on

Date of Conference:

12-15 Dec. 2011