favorite29In Sections II and III formulate, for the first time, the attitude estimation problem using vision and GPS velocity fusion as a discrete-time geometric observer design problem on SO(3)with an associated vectorial measurement belonging to the unit sphere.
favorite2We demonstrate the application of the developed theory by experimental studies showing excellent performance of the proposed observer in compensating for the drift in the visual odometry and recovering the orientation of vehicle with respect to the NED frame.
favorite1We show that the estimates of relative translation of camera (provided by a visual odometry algorithm) can be modelled as a vectorial measurement whose associated reference direction is the GPS velocity measurement.
favorite5In this paper, we propose a discrete-time geometric observer on SO(3) for fusing monocular visual odometry estimates with GPS velocity measurements.
favorite0Through experimental studies, we demonstrate that the observer effectively compensates for the inherent drift of the pure monocular vision based attitude estimation and is able to recover the North-East-Down orientation even if it is initialized with a very large attitude error..
favorite0S IMULATION RESULTS This section provides simulation studies demonstrating that the proposed BnB method is able to effectively extract the checkerboards even in challenging situations where some of the checkerboards are placed on the walls (hence do not create discontinuity in range measurements), or where some of the checkerboards either partially hit or are not hit at all by laser scans in some of the image-laser scan pairs..
favorite26The inlier points extracted by our BnB approach can be used in any nonlinear optimization method to explicitly compute the extrinsic camera to laser transformation.
favorite5A key contribution of the paper is to propose a tight upper bound for the objective function that ensures the BnB method finds the globally optimal inlier laser points.
favorite3Then, the laser scan points that hit the checkerboard plane in each image are extracted and used to solve a nonlinear optimization that estimates the extrinsic transformation between the camera and laser scanner.
favorite27We investigate the problem of observer design for invariant systems on finite-dimensional real connected Lie groups where the measurement of system input is corrupted by an unknown constant bias.
favorite6We show that for specific choices of gain mappings the resulting observer specializes to either the gradient-like observer of  or the non-gradient pose estimator proposed in , unifying these two state-of-the-art application papers in a single framework that applies to any invariant kinematic system on a Lie-group.
favorite0However, for concurrent state and input measurement bias estimation, we show that any implementable candidate observer (with the same state space dimension as the observed system) yields non-autonomous error dynamics unless the Lie group is Abelian (Theorem 4.1).
favorite53In this paper, we tackle the problem of observer design for general invariant systems on Lie groups with homogeneous outputs when the measurement of system input is corrupted by an unknown constant bias.
favorite6This precludes the application of the standard non-linear observer design methodologies available in the literature and leads us to propose a new design methodology based on employing invariant cost functions and general gain mappings.
favorite1Abstract This paper provides a new observer design methodology for invariant systems whose state evolves on a Lie group with outputs in a collection of related homogeneous spaces and where the measurement of system input is corrupted by an unknown constant bias.