Observer forms for perspective systems
Dahl, Ola ; Wang, Yebin ; Lynch, Alan F. and Heyden, Anders LU
(2010)
In Automatica
46(11).
p.1829-1834
- Abstract
- 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... (More)
- 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. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/1752290
- author
- Dahl, Ola
; Wang, Yebin
; Lynch, Alan F.
and Heyden, Anders
LU
- organization
- publishing date
- 2010
- type
- Contribution to journal
- publication status
- published
- subject
- keywords
- Computer vision systems, estimation, Structure, Observer forms, Nonlinear observers, Perspective systems
- in
- Automatica
- volume
- 46
- issue
- 11
- pages
- 1829 - 1834
- publisher
- Pergamon Press Ltd.
- external identifiers
-
- wos:000284661000012
- scopus:78049235957
- ISSN
- 0005-1098
- DOI
- 10.1016/j.automatica.2010.06.047
- language
- English
- LU publication?
- yes
- id
- 1424269b-2ad7-4045-9ae8-efc67abca7bf (old id 1752290)
- date added to LUP
- 2016-04-01 14:56:35
- date last changed
- 2023-10-01 22:39:27
@article{1424269b-2ad7-4045-9ae8-efc67abca7bf,
abstract = {{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.}},
author = {{Dahl, Ola and Wang, Yebin and Lynch, Alan F. and Heyden, Anders}},
issn = {{0005-1098}},
keywords = {{Computer vision systems; estimation; Structure; Observer forms; Nonlinear observers; Perspective systems}},
language = {{eng}},
number = {{11}},
pages = {{1829--1834}},
publisher = {{Pergamon Press Ltd.}},
series = {{Automatica}},
title = {{Observer forms for perspective systems}},
url = {{http://dx.doi.org/10.1016/j.automatica.2010.06.047}},
doi = {{10.1016/j.automatica.2010.06.047}},
volume = {{46}},
year = {{2010}},
}