In this paper, we investigate a vision-based 3D rigid-body motion estimation problem. In one of
our previous works, the authors addressed the problem using no prior information on the target motion. On
the other hand, this paper presents another approach assuming some target motion patterns. We first consider
a constant velocity model, which is a typical choice of motion patterns, and present a novel motion observer
integrating the motion model. We then prove based on passivity that the presented observer leads both of the
estimates of the target object pose and body velocity to their actual values. Moreover, we extend the result to a
more general motion pattern. Finally, the effectiveness of the presented estimation mechanism is demonstrated
through experiments.
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