A nonlinear observer approach for concurrent estimation of pose, IMU Bias and camera-to-IMU rotation

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2011, Pages 3335-3341

  Scandaroli, Glauco Garcia ^a   Morin, Pascal ^a   Silveira, Geraldo ^b  

^a INRIA   (France)

^b CTI Renato Archer DRVC Division   (Brazil)

Author keywords

Inertial Estimation; Inertial Vision; Lyapunov Function; Nonlinear Observers

Indexed keywords

CALIBRATION ERROR; COMPLEMENTARY FILTERS; HIGH QUALITY; LYAPUNOV; NON-LINEAR OBSERVER; POSE ESTIMATION;

CAMERAS; INTELLIGENT ROBOTS; LYAPUNOV FUNCTIONS; ROBOTICS; ROTATION;

ESTIMATION;

EID: 84455167669     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2011.6048271     Document Type: Conference Paper

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