Exact Observer Error Linearization for Perspective Dynamic Systems

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Exact Observer Error Linearization for Perspective Dynamic Systems

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Publication Conference Paper, other
Title Exact Observer Error Linearization for Perspective Dynamic Systems
Author(s) Dahl, Ola ; Heyden, Anders
Date 2008-03
English abstract
Estimation of 3D position information from 2D images in computer vision systems can be formulated as a state estimation problem for a nonlinear perspective dynamic system. The state estimation can be performed using different kinds of nonlinear observers. In this paper we investigate observer error linearization, where the goal is to find a coordinate transformation that results in a system for which a linear observer can be constructed. It is shown that using a state transformation combined with an output transformation, the system admits an observer form which leads to an observer with linear error dynamics.
Publisher Swedish Society for Automated Image Analysis
Host/Issue Procedings SSBA 2008
Pages 43-46
Language eng (iso)
Subject(s) strucuture estimation
exact linearisation
Technology
Research Subject Categories::TECHNOLOGY::Information technology::Automatic control
Research Subject Categories::TECHNOLOGY::Information technology::Computer science
Handle http://hdl.handle.net/2043/7402 (link to this page)

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