Globally exponentially stable observer for vision-based range estimation

@inproceedings{Dani2012GloballyES,
  title={Globally exponentially stable observer for vision-based range estimation},
  author={Ashwin P. Dani and Nicholas R. Fischer and Zhen Kan and Warren E. Dixon},
  year={2012}
}
Abstract A reduced-order nonlinear observer is developed to estimate the distance from a moving camera to a feature point on a static object (i.e., range identification), where full velocity and linear acceleration feedback of the calibrated camera is provided. The contribution of this work is to develop a global exponential range observer which can be used for a larger set of camera motions than existing observers. The observer is shown to be robust against external disturbances in the sense… CONTINUE READING
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