Euclidean Position Estimation of Static Features using a Moving Uncalibrated Camera

Nath N., Dawson D. M. , Tatlicioglu E.

IEEE International Conference on Systems, Man and Cybernetics, San-Antonio, Northern Mariana Islands, 11 - 14 October 2009, pp.4438-4439 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/icsmc.2009.5346924
  • City: San-Antonio
  • Country: Northern Mariana Islands
  • Page Numbers: pp.4438-4439


In this paper, a novel Euclidean position estimation technique using a single uncalibrated camera mounted on a moving platform is developed to asymptotically recover the three-dimensional (3D) Euclidean position of static object features. The position of the moving platform is assumed to be measurable, and a second object with known 3D Euclidean coordinates relative to the world frame is considered to be available a priori. To account for the unknown camera calibration parameters and to estimate the unknown 3D Euclidean coordinates, an adaptive least squares estimation strategy is employed based on prediction error formulations and a Lyapunov-type stability analysis. The developed estimator is proven to recover the 3D Euclidean position of the unknown object features despite the lack of knowledge of the camera calibration parameters.