Brunovsky's Linear Form of Incremental Structure From Motion

Conventional active incremental structure from motion (ISfM) schemes require a precise knowledge of the linear and angular velocities of the vision system to compute the three-dimensional structure of the observed scene. Furthermore, they are generally coupled and nonlinear, which makes the reconstruction inaccurate. In this paper, we present a novel active ISfM scheme to overcome these difficulties. It relies on two appropriate transformations: the first one allows efficient decoupling of the nonlinear model, whereas the second one transforms the decoupled model into the Brunovsky's linear form. We then show that a Luenberger's observer can be designed to estimate the unavailable states, making our scheme globally asymptotically convergent and robust to noise on measurements. We present simulated and experimental results to illustrate the performance of the described methodology.