A Discrete-Time Attitude Observer on SO(3) for Vision and GPS Fusion
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Khosravian, A; Chin, Tat-Jun; Reid, Ian; Mahony, Robert
Description
This paper proposes a discrete-time geometric attitude observer for fusing monocular vision with GPS velocity measurements. The observer takes the relative transformations obtained from processing monocular images with any visual odometry algorithm and fuses them with GPS velocity measurements. The objectives of this sensor fusion are twofold; first to mitigate the inherent drift of the attitude estimates of the visual odometry, and second, to estimate the orientation directly with respect to...[Show more]
Collections | ANU Research Publications |
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Date published: | 2017 |
Type: | Conference paper |
URI: | http://hdl.handle.net/1885/231065 |
Source: | Proceedings - IEEE International Conference on Robotics and Automation |
DOI: | 10.1109/ICRA.2017.7989669 |
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File | Description | Size | Format | Image |
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01_Khosravian_A_Discrete-Time_Attitude_2017.pdf | 688.07 kB | Adobe PDF | Request a copy |
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