An application and experimental verification of the online structure from motion (SFM) method is presented to estimate the position of a moving object using a moving camera. An unknown input observer is implemented for the position estimation of a moving object attached to a two-link robot observed by a moving camera attached to a PUMA robot. The velocity of the object is considered as an unknown input to the perspective dynamical system. Series of experiments are performed with different camera and object motions. The method is used to estimate the position of the static object as well as the moving object. The position estimates are compared with ground-truth data computed using forward kinematics of the PUMA and the two-link robot. The observer gain design problem is formulated as a convex optimization problem to obtain an optimal observer gain.

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