Structure from Motion with variable focal length: Interconnected fuzzy observer

R. Benyoucef, H. Hadj-Abdelkader, L. Nehaoua, H. Arioui
2021 2021 60th IEEE Conference on Decision and Control (CDC)  
In this paper, a 3D point feature depth and camera focal length estimation is proposed, using a partially calibrated low cost monocular camera. The camera intrinsic parameters are known, except for the focal length, which may vary across different views. The camera perspective projection model is augmented using dynamic extension approach, then decomposed into two interconnected subsystems. The subsystems are described as quasi-Linear Parameter Varying (qLPV) systems with unmeasured premise
more » ... ables for which an Interconnected Fuzzy Observer (IFO) is designed. Necessary and sufficient conditions to ensure the observer existence are presented. The error convergence analysis is performed based on Lyapunov theory associated with Lipchitz condition. Gains that guarantee the asymptotic stability of the estimation error are computed in terms of Linear Matrix Inequalities (LMI) with eigenvalues clustering in LMI region to improve the estimation performance.
doi:10.1109/cdc45484.2021.9683139 fatcat:jcxebhda6rhfxpcyp2hej7irg4