Robust Nonlinear Fusion of Inertial and Visual Data for position, velocity and attitude estimation of UAV
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Altmetric Citations
Cheviron, Thibault; Hamel, Tarek; Mahony, Robert; Baldwin, Grant
Description
This paper presents a coupled observer that uses accelerometer, gyrometer and vision sensors to provide estimates of pose and linear velocity for an aerial robotic vehicle. The observer is based on a non-linear complimentary filter framework and incorporates adaptive estimates of measurement bias in gyrometers and accelerometers commonly encountered in low-cost inertial measurement systems. Asymptotic stability of the observer estimates is proved as well as bounded energy of the observer error...[Show more]
Collections | ANU Research Publications |
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Date published: | 2007 |
Type: | Conference paper |
URI: | http://hdl.handle.net/1885/56332 |
Source: | Proceedings of ICRA '07 |
DOI: | 10.1109/ROBOT.2007.363617 |
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File | Description | Size | Format | Image |
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01_Cheviron_Robust_Nonlinear_Fusion_of_2007.pdf | 955 kB | Adobe PDF | Request a copy |
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