Simultaneous Estimation of Euclidean Distances to a Stationary Object's Features and the Euclidean Trajectory of a Monocular Camera

Data-based, exponentially converging observers are developed for a monocular camera to estimate the Euclidean distance (and hence accurately scaled coordinates) to features on a stationary object and to estimate the Euclidean trajectory taken by the camera while tracking the object, without requiring the typical positive depth constraint. A Lyapunov-based stability analysis shows that the develope...