Image guidance of flexible tip-steerable needles
IEEE Transactions on Robotics
Vision-based estimation of three-dimensional position and pose of multiple underwater vehicles
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Visual Tracking via Particle Filtering on the Affine Group
International Journal of Robotics Research
International Journal of Robotics Research
Error growth in position estimation from noisy relative pose measurements
Robotics and Autonomous Systems
Geometric particle swarm optimization for robust visual ego-motion estimation via particle filtering
Image and Vision Computing
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We address general filtering problems on the Euclidean group SE(3). We first generalize, to stochastic nonlinear systems evolving on SE(3), the particle filter of Liu and West for simultaneous estimation of the state and covariance. The filter is constructed in a coordinate-invariant way, and explicitly takes into account the geometry of SE(3) and P(n), the space of symmetric positive definite matrices. Some basic results for bilinear systems on SE(3) with linear and quadratic measurements are also derived. Three examples—GPS attitude estimation, needle tip location, and vision-based robot end-effector pose estimation—are presented to illustrate the framework.