Exact and Approximate Solutions of the Perspective-Three-Point Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Fast Ego-motion Estimation with Multi-rate Fusion of Inertial and Vision
International Journal of Robotics Research
On multi-rate fusion for non-linear sampled-data systems: Application to a 6D tracking system
Robotics and Autonomous Systems
Nonlinear observers for perspective time-invariant linear systems
Automatica (Journal of IFAC)
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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.