ABSTRACT
This chapter proposes an approach to asymptotically estimate the velocity and range of feature points on a moving object using a static-moving camera system. It presents an approach for a static-moving camera system to asymptotically identify the velocity and range of feature points on a moving object. The normalized Euclidean coordinates of feature points and the homography-based techniques are utilized to construct two auxiliary state vectors, which are expressed in terms of the static camera and the moving camera, respectively. The velocity and range are estimated in a sequential way based on these two measurable auxiliary state vectors. The static-moving camera system, motion constraint and a priori geometric knowledge are not required for the moving object. The asymptotic convergence of estimation errors is proved with Lyapunov-based methods. Lyapunov-based techniques are exploited to prove the asymptotic convergence for the velocity observer and the range estimator.
