Hua, Minh-DucZamani, MohammadTrumpf, JochenMahony, RobertHamel, Tarek2015-12-10December 1http://hdl.handle.net/1885/64402This paper proposes a nonlinear pose observer designed directly on the Lie group structure of the Special Euclidean group SE(3). We use a gradient-based observer design approach and ensure that the derived observer innovation can be implemented from position measurements. We prove local exponential stability of the error and instability of the non-zero critical points. Simulations indicate that the observer is indeed almost globally stable as would be expected.Keywords: Critical points; Gradient based; Group structure; Local exponential stability; Observer design; Special Euclidean group; Control201110.1109/CDC.2011.61604532016-02-24