ICRA'09 Paper Abstract


Paper FrB10.1

Baldwin, Grant (Australian National University), Mahony, Robert (Australian National University), Trumpf, Jochen (The Australian National University)

A Nonlinear Observer for 6 DOF Pose Estimation from Inertial and Bearing Measurements

Scheduled for presentation during the Regular Sessions "Visual Navigation - I" (FrB10), Friday, May 15, 2009, 10:30−10:50, Room: 502

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Visual Navigation, Sensor Fusion


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.



Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2022 PaperCept, Inc.
Page generated 2022-01-24  05:53:26 PST  Terms of use