Object tracking and 3D coordinates estimation using nonlinear observer for a wheeled mobile robot with a single camera

The problem of object tracking and its 3D space position estimation using single camera attached to a wheeled mobile robot is considered. The algorithm for fast object detection at each sample time is proposed. The problem of space coordinates estimation can be considered in different ways. One of them is a geometrical approach using two consequent views obtained from different viewpoints. The other way is to investigate the nonlinear model observability and try to design nonlinear observer. In this paper the question of observability is analyzed and the nonlinear observer design is performed in two particular simplified situations.