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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:
author
organization
publishing date
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
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
2010-12-30 08:54:39
date last changed
2018-06-24 04:27:50
@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},
  keyword      = {Computer vision systems,estimation,Structure,Observer forms,Nonlinear observers,Perspective systems},
  language     = {eng},
  number       = {11},
  pages        = {1829--1834},
  publisher    = {Pergamon},
  series       = {Automatica},
  title        = {Observer forms for perspective systems},
  url          = {http://dx.doi.org/10.1016/j.automatica.2010.06.047},
  volume       = {46},
  year         = {2010},
}