Title :
A nonlinear observer for 6 DOF pose estimation from inertial and bearing measurements
Author :
Baldwin, Grant ; Mahony, Robert ; Trumpf, Jochen
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.
Keywords :
nonlinear control systems; observers; position control; bearing measurements; inertial measurements; nonlinear observer; pose estimation; special Euclidean group; Computational modeling; Computer vision; Global Positioning System; Image reconstruction; Noise measurement; Noise robustness; Nonlinear equations; Observers; Sensor fusion; Velocity measurement; Bearing-Only; Inertial Vision; Non-linear Observer; Pose Estimation;
Conference_Titel :
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location :
Kobe
Print_ISBN :
978-1-4244-2788-8
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2009.5152242