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• W2187179610 abstract "In this paper, an observer problem from a computer vision application is studied. Rigid body pose estimation using iner- tial sensors and a monocular camera is considered and it is shown how rotation estimation can be decoupled from position estimation. Orientation estimation is formulated as an observer problem with implicit output where the states evolve on . A careful ob- servability study reveals interesting group theoretic structures tied to the underlying system structure. A locally convergent observer where the states evolve on is proposed and numerical esti- mates of the domain of attraction is given. Further, it is shown that, given convergent orientation estimates, position estimation can be formulated as a linear implicit output problem. From an applica- tions perspective, it is outlined how delayed low bandwidth visual observations and high bandwidth rate gyro measurements can pro- vide high bandwidth estimates. This is consistent with real-time constraints due to the complementary characteristics of the sen- sors which are fused in a multirate way." @default.
• W2187179610 created "2016-06-24" @default.
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• W2187179610 date "2003-01-01" @default.
• W2187179610 modified "2023-09-22" @default.
• W2187179610 title "Pose Estimation Using Line-Based Dynamic Vision" @default.
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