Nonlinear observers appearing in dynamical machine vision

Perspective dynamical systems arise in dynamic machine vision, in which only perspective observation is available. This paper first develops a perspective linear system in which the number of observing points is more than one, and studies a Luenberger-type nonlinear observer for such a system. Then assuming a given perspective linear system to be Lyapunov stable and to satisfy some sort of detestability condition, it is shown that the estimation error converges exponentially to zero.