A nonlinear observer for 6 DOF pose estimation from inertial and bearing measurements
This paper considers the problem of estimating pose from inertial and bearing-only vision measurements. We present a non-linear observer that evolves directly on the Special Euclidean group SE(3) from inertial measurements and bearing measurements, such as provided by a visual system tracking known landmarks. Local asymptotic convergence of the observer is proved. The observer is computationally simple and its gains are easy to tune. Simulation results demonstrate robustness to measurement...[Show more]
|Collections||ANU Research Publications|
|Source:||Proceedings of IEEE International Conference on Robotics and Automation (ICRA 2009)|
|01_Baldwin_A_nonlinear_observer_for_6_DOF_2009.pdf||323.81 kB||Adobe PDF||Request a copy|
Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.