Observer forms for perspective systems
Author
Summary, in English
The estimation of three-dimensional position information from two-dimensional images in computer vision systems can be formulated as a state estimation problem for a nonlinear perspective dynamic system. The multi-output state estimation problem has been treated by several authors using methods for nonlinear observer design. This paper shows that a perspective system can be transformed to two observer forms, and provides constructive methods for arriving at the transformations. These observer forms lead to straightforward observer designs. First, it is shown that, using an output transformation, the system admits an observer form which leads to an observer with linear error dynamics. A second observer design is based on a time-scaled block triangular form. Both designs assume a commonly used observability condition. The designs are demonstrated in simulation. (C) 2010 Elsevier Ltd. All rights reserved.
Department/s
Publishing year
2010
Language
English
Pages
1829-1834
Publication/Series
Automatica
Volume
46
Issue
11
Links
Document type
Journal article
Publisher
Pergamon Press Ltd.
Topic
- Mathematics
Keywords
- Computer vision systems
- estimation
- Structure
- Observer forms
- Nonlinear observers
- Perspective systems
Status
Published
ISBN/ISSN/Other
- ISSN: 0005-1098