A nonlinear observer for 6 DOF pose estimation from inertial and bearing measurements

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    51 Citations (Scopus)

    Abstract

    This paper considers the problem of estimating pose from inertial and bearing-only vision measurements. We present a non-linear observer that evolves directly on the Special Euclidean group SE(3) from inertial measurements and bearing measurements, such as provided by a visual system tracking known landmarks. Local asymptotic convergence of the observer is proved. The observer is computationally simple and its gains are easy to tune. Simulation results demonstrate robustness to measurement noise and initial conditions.

    Original languageEnglish
    Title of host publication2009 IEEE International Conference on Robotics and Automation, ICRA '09
    Pages2237-2242
    Number of pages6
    DOIs
    Publication statusPublished - 2009
    Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
    Duration: 12 May 200917 May 2009

    Publication series

    NameProceedings - IEEE International Conference on Robotics and Automation
    ISSN (Print)1050-4729

    Conference

    Conference2009 IEEE International Conference on Robotics and Automation, ICRA '09
    Country/TerritoryJapan
    CityKobe
    Period12/05/0917/05/09

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