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- W2731479418 abstract "This paper addresses the pose estimation problem for autonomous vehicles that use a monocular charged-coupled-device (CCD) camera mounted onboard that observes the apparent motion of stationary points. We formulate the problem in the framework of state estimation of a state-affine system with multiple perspective outputs. Resorting todynamic programming, we derive a minimum-energy estimator which produces an estimate of the state that is “mostcompatible” with the dynamics, in the sense that it requires the least amount of noise energy to explain the measured outputs. In our formulation we take directly into account that the measurements arrive at discrete-time instants, are time-delayed, and may not be complete. In this way, we can deal with usual problems in vision systems such as noise as well as latency and intermittency of observations. The convergence of the proposed observersystem is analyzed and simulations results are presented and discussed." @default.
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- W2731479418 date "2004-07-01" @default.
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- W2731479418 title "Pose estimation of autonomous vehicles using visual information: A minimum-energy estimator approach" @default.
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- W2731479418 doi "https://doi.org/10.1016/s1474-6670(17)31949-3" @default.
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