Title :
Position based structure from motion using a moving calibrated camera
Author :
Nath, Nitendra ; Braganza, David ; Dawson, Darren M.
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., Clemson, SC
Abstract :
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.
Keywords :
Lyapunov methods; calibration; cameras; least squares approximations; stability; 3D Euclidean position estimator; Lyapunov stability analysis; adaptive least squares estimation; moving calibrated camera; position based structure; Cameras; Image reconstruction; Layout; Mobile robots; Motion estimation; Observers; Remotely operated vehicles; Simultaneous localization and mapping; State estimation; Unmanned aerial vehicles;
Conference_Titel :
American Control Conference, 2008
Conference_Location :
Seattle, WA
Print_ISBN :
978-1-4244-2078-0
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2008.4586747
