Nonlinear complementary filters on the special linear group

Abstract

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 group velocity or part of the group velocity that cannot be measured from sensors attached to the camera. We demonstrate the performance of the proposed filters on real world homography data.