Passive sensor object motion estimation

In this paper, we present the problem of estimation of the three dimensional motion of an object from a sequence of noisy projections onto a two-dimensional screen given by a moving camera. The study of this problem constitutes a necessary preliminary step towards design of control systems ensuring vehicles following that is useful in many practical applications in the defence industry and automotive industry. This paper derives an estimator on the basis of the proposed mathematical model of the sensor, wheeled carrier of the camera and moving object. Experimental results is presented to show the effectiveness of the estimator, especially with respect to estimation of the required velocities of the object and demonstrate good performance of the estimator.