Attitude/Position Estimation of Rigid-Body using Inertial and Vision Sensors

DOI

10.2991/jrnal.2016.3.2.8How to use a DOI?

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.

Copyright

© 2013, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Download article (PDF)

TY  - JOUR
AU  - Shihao Sun
AU  - Yingmin Jia
PY  - 2016
DA  - 2016/09/01
TI  - Attitude/Position Estimation of Rigid-Body using Inertial and Vision Sensors
JO  - Journal of Robotics, Networking and Artificial Life
SP  - 102
EP  - 106
VL  - 3
IS  - 2
SN  - 2352-6386
UR  - https://doi.org/10.2991/jrnal.2016.3.2.8
DO  - 10.2991/jrnal.2016.3.2.8
ID  - Sun2016
ER  -