Skip navigation
Skip navigation

Deterministic attitude and pose filtering, an embedded Lie groups approach

Zamani, Mohammad

Description

Attitude estimation is a core problem in many robotic systems that perform automated or semi automated navigation. The configuration space of the attitude motion is naturally modelled on the Lie group of special orthogonal matrices SO(3). Many current attitude estimation methods are based on non-matrix parameterization of attitude. Non-matrix parameterization schemes sometimes lead to modelling issues such as the singularities in the parameterization space, non-uniqueness of the attitude...[Show more]

CollectionsOpen Access Theses
Type: Thesis (PhD)
URI: http://hdl.handle.net/1885/151655
DOI: 10.25911/5d5152159ac7a
Access Rights: Open Access

Download

File Description SizeFormat Image
b34829167-Zamani_M.pdf182.91 MBAdobe PDFThumbnail


Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.

Updated:  22 January 2019/ Responsible Officer:  University Librarian/ Page Contact:  Library Systems & Web Coordinator