Nonlinear complementary filters on the special linear group
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]
|Collections||ANU Research Publications|
|Source:||International Journal of Control|
|01_Mahony_Nonlinear_complementary_2012.pdf||526.82 kB||Adobe PDF||Request a copy|
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