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

• Type: Article in International Conference Proceedings Book
• Date: 2011

Authors

Sergio S Rodrigues (Author) Other; Naveena Crasta (Author) Other; Antonio Pedro Aguiar (Author) Other; Fatima Silva Leite (Author) Other

Conference proceedings International

Title: Springer Proceedings in Mathematics

Pages: 611-633

International Conference DYNA 2008

Braga, PORTUGAL, SEP 08-12, 2008

Indexing

ISI Web of Knowledge - 3 Citations

Scopus - 3 Citations

Scientific classification

FOS: Natural sciences > Mathematics

Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 23