Range identification for perspective dynamic system with single homogeneous observation

Perspective problems arise in machine vision when using a camera to observer the scene. Essential problems include identification of unknown states and/or unknown parameters from perspective observations. Range identification is to estimate the states/positions of a moving object with known motion parameters which has been discussed in the literature using nonlinear observers with full homogeneous observations derived from the image plane. In this paper, the same range identification problem is discussed with single homogeneous observation using nonlinear observers. Our simulation results verify the convergence of the observers when their observability conditions are satisfied.