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Nonlinear complementary filters on the special linear group

Mahony, Robert; Hamel, Tarek; Morin, Pascal; Malis, Ezio


This article proposes a nonlinear complementary filter for the special linear Lie-group SL(3) that fuses low-frequency state measurements with partial velocity measurements and adaptive estimation of unmeasured slowly changing velocity components. The obtained results have direct application on the problem of filtering a sequence of image homographies acquired from low-quality video data. The considered application motivates us to derive results that provide adaptive estimation of the full...[Show more]

CollectionsANU Research Publications
Date published: 2012
Type: Journal article
Source: International Journal of Control
DOI: 10.1080/00207179.2012.693951


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