An Exponential Observer for Systems on SE(3) with Implicit Outputs

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2011

Autores

Sergio S Rodrigues (Autor) Outra; Naveena Crasta (Autor) Outra; Antonio Pedro Aguiar (Autor) Outra; Fatima Silva Leite (Autor) Outra

Ata de Conferência Internacional

Título: Springer Proceedings in Mathematics

Páginas: 611-633

International Conference DYNA 2008

Braga, PORTUGAL, SEP 08-12, 2008

Indexação

ISI Web of Knowledge - 3 Citações

Scopus - 3 Citações

Classificação Científica

FOS: Ciências exactas e naturais > Matemática

Outras Informações

ID Authenticus: P-002-WJC

DOI: 10.1007/978-3-642-14788-3_45

Abstract (EN): This paper considers the state estimation problem of a class of systems described by implicit outputs and whose state lives in the special Euclidean group SE(3). This type of systems are motivated by applications in dynamic vision such as if e estimation of the motion of a camera from a sequence of images. We propose an observer in the group of motion SE(3) and discuss conditions under which the linearized state estimation error converges exponentially fast. We also analyze the problem when the system is subject to disturbances and noises. We 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 23