Structure recovering of moving object using a real time approach

In this paper, an online method is presented for estimating structure and motion of a moving object with unknown time varying velocities filmed by a moving camera with known velocity. For this aim, a nonlinear unknown input observer design is investigated where the object's velocity is taken as an unknown input to the dynamical system. Contrary to the solutions already proposed in the literature, simulations are performed in the case of using time varying object velocities and in the presence of sensor noise, such that the advantages of the unknown input observer can be clearly proved.