@inproceedings{caa1fd96feea4ca88491f61f823fabad,
title = "Complementary filter design on the Special Euclidean group SE(3)",
abstract = "This 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.",
keywords = "Complementary filter, Non-linear filter, Special euclidean group",
author = "Grant Baldwin and Robert Mahony and Jochen Trumpf and Tarek Hamel and Thibault Cheviron",
note = "Publisher Copyright: {\textcopyright} 2007 EUCA.; 2007 9th European Control Conference, ECC 2007 ; Conference date: 02-07-2007 Through 05-07-2007",
year = "2007",
doi = "10.23919/ecc.2007.7068746",
language = "English",
series = "2007 European Control Conference, ECC 2007",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "3763--3770",
booktitle = "2007 European Control Conference, ECC 2007",
address = "United States",
}