Abstract
The identification problem for a class of movements in the space by using the perspective observation, where the parameters are all time-varying, is considered in this paper. The motion equation can cover a wide class of practical movements in the space. The estimation of the position and the motion parameter are simultaneously developed in the proposed algorithm. First, the parameters relating to the rotation of the motion are identified, where only one camera is needed. Then the position of the moving object is identified, where the stereo vision is necessary. In the third step, the parameters relating to the straight movement are identified. The assumptions about the perspective system are reasonable, and the convergence conditions are intuitive and have apparently physical interpretations. The proposed method can cope with a much more general class of perspective systems, and is robust to measurement noises. Simulation results show the effectiveness of the proposed method.
