Nath, NitendraDawson, Darren M.Tatlıcıoğlu, Enver2016-11-162016-11-162009Nath, N., Dawson, D. M., and Tatlıcıoğlu, E. (2009, 11-14 October). Euclidean position estimation of static features using a moving uncalibrated camera. Paper presented at the IEEE International Conference on Systems, Man and Cybernetics, SMC 2009. doi:10.1109/ICSMC.2009.53469241062-922X1063-65361558-0865http://doi.org/10.1109/ICSMC.2009.5346924https://hdl.handle.net/11147/2451IEEE International Conference on Systems, Man and Cybernetics, SMC 2009; San Antonio, TX; United States; 11 October 2009 through 14 October 2009In this paper, a novel Euclidean position estimation technique using a single uncalibrated camera mounted on a moving platform is developed to asymptotically recover the three-dimensional (3D) Euclidean position of static object features. The position of the moving platform is assumed to be measurable, and a second object with known 3D Euclidean coordinates relative to the world frame is considered to be available a priori. To account for the unknown camera calibration parameters and to estimate the unknown 3D Euclidean coordinates, an adaptive least squares estimation strategy is employed based on prediction error formulations and a Lyapunov-type stability analysis. The developed estimator is proven to recover the 3D Euclidean position of the unknown object features despite the lack of knowledge of the camera calibration parameters.eninfo:eu-repo/semantics/openAccessEstimationLeast squares estimationLyapunov methodsNonlinear systemsPerspective vision systemsConference Object2-s2.0-7484912505810.1109/ICSMC.2009.5346924