| Title: | OS5-3 Attitude/Position Estimation of Rigid-Body using Inertial and Vision Sensors |
|---|---|
| Publication: | ICAROB2016 |
| Volume: | 21 |
| Pages: | 365-368 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2016.OS5-3 |
| Author(s): | Shihao Sun, Yingmin Jia |
| Publication Date: | January 29, 2016 |
| Keywords: | attitude and position estimation, EKF, inertial sensor, vision sensor |
| Abstract: | This paper is concerned with the attitude/position estimation of a rigid-body using inertial and vision sensors. By employing the Newton-Euler method, a kinematic model is developed for the rigid-body by treating the inertial measurements as inputs. Based on the coordinate transformation, a nonlinear visual observation model is proposed by using the image coordinates of feature points as observations. Then the Extended Kalman filter (EKF) is utilized to estimate the attitude/position recursively. The effectiveness of the proposed algorithm is evaluated by simulation. |
| PDF File: | https://alife-robotics.co.jp/members2016/icarob/data/papers/OS/OS5-3.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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