Mahony, RobertHamel, TarekMorin, PascalMalis, Ezio2015-12-100020-7179http://hdl.handle.net/1885/66017This 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.Keywords: Adaptive estimation; Complementary filters; Group velocities; Homographies; Low frequency; Low qualities; Non-linear observer; Sequence of images; Special linear group; State measurements; Velocity components; Video data; Frequency estimation; Light veloc complementary filter; nonlinear observer; special linear group SL (3)201210.1080/00207179.2012.6939512016-02-24