State estimation for systems on SE(3) with implicit outputs: An application to visual servoing

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2010

Autores

Rodrigues, SS (Autor) Outra; Crasta, N (Autor) Outra; Aguiar, AP (Autor) Outra; Leite, FS (Autor) Outra

Ata de Conferência Internacional

Título: IFAC Proceedings Volumes (IFAC-PapersOnline)

Páginas: 921-926

8th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2010

Bologna, 1 September 2010 through 3 September 2010

Indexação

ISI Web of Knowledge

Scopus - 3 Citações

Outras Informações

ID Authenticus: P-007-ZPY

DOI: 10.3182/20100901-3-it-2016.00239

Abstract (EN): Motivated by applications in visual servoing, we consider the state estimation problem for a class of systems described by implicit outputs and whose state lives in the special Euclidean group SE(3). We propose an observer in the group of motion SE(3) that preserves invariance and therefore takes explicitly into consideration the geometry of the problem. We discuss conditions under which the linearized state estimation error converges exponentially fast. Furthermore, we analyze the problem when the system is subject to disturbances and noises and show that the estimate converges to a neighborhood of the real solution. The size of the neighborhood increases/decreases gracefully with the bound of the disturbance and noise. We apply and illustrate these results through an application of position and attitude estimation of a rigid body using measurements from a camera attached to the rigid body. © 2010 IFAC.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6