Pose estimation using line-based dynamic vision and inertial sensors

DOI10.1109/TAC.2002.808464MaRDI QIDQ5266930zbMATH OpenFDO

Authors Henrik Rehbinder, Bijoy K. Ghosh

Publication date 20 June 2017

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Estimation and detection in stochastic control theory (93E10) Machine vision and scene understanding (68T45) Kinematics of a rigid body (70B10)

Cited in

(23)

• Nonlinear state estimation for inertial navigation systems with intermittent measurements
• On the observability of linear motion quantities in navigation systems
• Attitude observer on the special orthogonal group with Earth velocity estimation
• Iterative Pose Computation from Line Correspondences
• State estimation for invariant systems on Lie groups with delayed output measurements
• Nonlinear observer design on SL(3) for homography estimation by exploiting point and line correspondences with application to image stabilization
• Finite-time stable estimator for attitude motion in the presence of bias in angular velocity measurements
• Observability analysis of rotation estimation by fusing inertial and line-based visual information: a revisit
• Output feedback observation and control for visual servoing of VTOL UAVs
• A nonlinear position and attitude observer on SE(3) using landmark measurements
• A GES attitude observer with single vector observations
• Observers for invariant systems on Lie groups with biased input measurements and homogeneous outputs
• Rigid body pose estimation based on the Lagrange-d'Alembert principle
• Robust filtering for deterministic systems with implicit outputs
• Gaussian particle filter based pose and motion estimation
• Partial attitude and rate gyro bias estimation: observability analysis, filter design, and performance evaluation
• Tightly coupled long baseline/ultra-short baseline integrated navigation system
• Drift-free attitude estimation for accelerated rigid bodies
• Globally exponentially stable attitude observer with Earth velocity estimation
• Nonlinear stochastic position and attitude filter on the special Euclidean group 3
• Discrete-time rigid body pose estimation based on Lagrange-d'Alembert principle
• Rigid-body pose and twist estimation using an accelerometer array
• Finite time stable attitude estimation of rigid bodies with unknown dynamics

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