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Complementary filter design on the Special Euclidean group SE(3)

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dc.contributor.authorBaldwin, Granten
dc.contributor.authorMahony, Roberten
dc.contributor.authorTrumpf, Jochenen
dc.contributor.authorHamel, Tareken
dc.contributor.authorCheviron, Thibaulten
dc.date.accessioned2025-05-30T01:28:53Z
dc.date.available2025-05-30T01:28:53Z
dc.date.issued2007en
dc.description.abstractThis paper considers the problem of obtaining high quality pose estimation (position and orientation) from a combination of low cost sensors, such as an inertial measurement unit and vision sensor. A non-linear complementary filter is proposed that evolves on the Special Euclidean Group SE(3). Exponential stability of the filter is proved. Simulation results are presented to illustrate simplicity and demonstrate the performance of the proposed approach. Experimental results reinforce the convergence of the filter.en
dc.description.statusPeer-revieweden
dc.format.extent8en
dc.identifier.isbn9783952417386en
dc.identifier.otherScopus:84927737842en
dc.identifier.otherARIES:a383154xPUB1549en
dc.identifier.urihttp://www.scopus.com/inward/record.url?scp=84927737842&partnerID=8YFLogxKen
dc.identifier.urihttps://hdl.handle.net/1885/733754529
dc.language.isoenen
dc.publisherInstitute of Electrical and Electronics Engineers Inc.en
dc.relation.ispartofseries2007 9th European Control Conference, ECC 2007en
dc.relation.ispartofseries2007 European Control Conference, ECC 2007en
dc.rightsPublisher Copyright: © 2007 EUCA.en
dc.subjectComplementary filteren
dc.subjectNon-linear filteren
dc.subjectSpecial euclidean groupen
dc.titleComplementary filter design on the Special Euclidean group SE(3)en
dc.typeConference paperen
local.bibliographicCitation.lastpage3770en
local.bibliographicCitation.startpage3763en
local.contributor.affiliationBaldwin, Grant; CECS Admin Link, ANU College of Systems and Society, The Australian National Universityen
local.contributor.affiliationMahony, Robert; School of Engineering, ANU College of Systems and Society, The Australian National Universityen
local.contributor.affiliationTrumpf, Jochen; School of Engineering, ANU College of Systems and Society, The Australian National Universityen
local.contributor.affiliationHamel, Tarek; I3S-UNSA-CNRSen
local.contributor.affiliationCheviron, Thibault; CNRSen
local.identifier.doi10.23919/ecc.2007.7068746en
local.identifier.purecaa1fd96-feea-4ca8-8491-f61f823fabaden
local.type.statusPublisheden

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