Single scene and path reconstruction with a monocular camera using integral concurrent learning
Zachary I. Bell, Hsi‐Yuan Chen, Anup Parikh, Warren E. Dixon · 2017
An observer is developed that uses a monocular camera to reconstruct the positions of stationary features in a scene and the path the camera travels through the scene in real time. A Lyapunov based stability analysis is provided to show the observer is globally exponentially stable for less restrictive conditions than current literature. A simulation is provided to validate the developed theory and demonstrate performance.