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Robust Nonlinear Fusion of Inertial and Visual Data for position, velocity and attitude estimation of UAV

Cheviron, Thibault; Hamel, Tarek; Mahony, Robert; Baldwin, Grant


This paper presents a coupled observer that uses accelerometer, gyrometer and vision sensors to provide estimates of pose and linear velocity for an aerial robotic vehicle. The observer is based on a non-linear complimentary filter framework and incorporates adaptive estimates of measurement bias in gyrometers and accelerometers commonly encountered in low-cost inertial measurement systems. Asymptotic stability of the observer estimates is proved as well as bounded energy of the observer error...[Show more]

CollectionsANU Research Publications
Date published: 2007
Type: Conference paper
Source: Proceedings of ICRA '07
DOI: 10.1109/ROBOT.2007.363617


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