Structure and motion estimation of a moving object using a moving camera

A solution is presented to the problem of estimating the structure and motion of a moving object seen from a moving camera. A nonlinear observer is proposed, which asymptotically identifies the structure and motion of the moving object, when the camera motion is persistently exciting. The object is assumed to be moving with constant velocities. The proposed method makes no assumptions on the minimum number of views or point correspondences as required by the existing approaches.