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Article: A Nonlinear Attitude Observer Based on Active Vision and Inertial Measurements
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ABSTRACT: This paper presents an experimentally evaluated solution to the problem of estimating the attitude of a rigid body using rate gyros and a pan-tilt camera. A nonlinear attitude observer combines angular velocity measurements obtained from rate gyros with images of a planar scene provided by the camera. By directly exploiting the sensor information, a stabilizing feedback law is introduced, and exponential convergence to the origin of the estimation errors is shown. Additionally, an active-vision system is proposed that relies on an image-based exponentially input-to-state-stable control law for the pan and tilt angular rates of the camera to keep the features in the image plane. Using recent results in geometric numerical integration, a multirate implementation of the observer is proposed, which exploits the complementary bandwidth of the sensors. Practical considerations, such as the lens-distortion compensation and the computation of suitable observer feedback gains, are considered. Experimental results obtained with a high-accuracy motion rate table demonstrate the high level of performance attained by the proposed solution.IEEE Transactions on Robotics 09/2011; · 2.54 Impact Factor -
Article: A Nonlinear Attitude Observer Based on Active Vision and Inertial Measurements.
IEEE Transactions on Robotics. 01/2011; 27:664-677. -
Conference Proceeding: Experimental evaluation of a nonlinear attitude observer based on image and inertial measurements
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ABSTRACT: This paper presents an experimentally tested solution to the problem of estimating the attitude of a rigid body using rate gyros and a pan and tilt camera. An exponential input-to-state stable pan and tilt control law is used to keep the visual features in the image plane. A multi-rate implementation of the nonlinear attitude observer that uses recent results in geometric numeric integration is proposed. Practical aspects, such as the computation of suitable observer feedback gains, are considered. Experimental results obtained with a high accuracy motion rate table demonstrate the high level of performance attained by the proposed solution.American Control Conference (ACC), 2010; 08/2010 -
Conference Proceeding: Nonlinear attitude estimation using active vision and inertial measurements
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ABSTRACT: In this paper we consider the problem of estimating the attitude of a rigid body equipped with a triad of rate gyros and a pan and tilt camera. The nonlinear attitude observer integrates angular velocity measurements from rate gyros, with images of a planar scene provided by the camera. By exploiting directly sensor information, i) a stabilizing feedback law is introduced and exponential convergence to the origin of the estimation errors is shown; ii) an active vision system is proposed that relies on an image-based exponentially input-to-state stable (ISS) control law for the camera pan and tilt angular rates to keep the features in the image plane. The discrete time implementation of the observer makes use of recent results in geometric numeric integration to preserve the rotation matrix properties. Simulated and experimental results demonstrate the effectiveness and applicability of the proposed solution.Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on; 01/2010 -
Conference Proceeding: Nonlinear attitude estimation using active vision and inertial measurements.
Proceedings of the 48th IEEE Conference on Decision and Control, CDC 2009, combined withe the 28th Chinese Control Conference, December 16-18, 2009, Shanghai, China; 01/2009
