Euclidean position estimation of features on a moving object using a single camera: a Lyapunov-based approach

In this paper, an adaptive nonlinear estimator is developed to identify the Euclidean coordinates of feature points on a moving object using a single fixed camera. No explicit model is used to describe the movement of the object. Homography-based techniques are used in the development of the object kinematics, while Lyapunov design methods are utilized in the synthesis of the adaptive estimator. Simulation results are included to demonstrate the performance of the estimator.