Velocity and range identification of a moving object using a static-moving camera system
Kaixiang Zhang, Jian Chen, Bingxi Jia, Yanyan Gao · 2016
In this paper, an observer-based approach is proposed to asymptotically identify the velocity and range of feature points on a moving object using a static-moving camera system. Specifically, the system is composed of a static camera and a moving camera, and the approach is divided into two steps. Firstly, utilizing the static camera, a nonlinear observer is designed to identify the up-to-a-scale velocity of feature points. Secondly, with the moving camera and the estimated scaled velocity, the range of feature points is identified by an adaptive estimator. Owing to the introduction of the static-moving camera system, no motion constraint or a priori geometric knowledge is required for the moving object. Lyapunov-based analyses are used to prove that the estimators asymptotically identify the velocity and range of feature points. The performance of the proposed strategy is demonstrated by simulation results.