Complementary filter design on the Special Euclidean group SE(3)

Author

Baldwin, Grant ; Mahony, Robert ; Trumpf, Jochen ; Hamel, Tarek ; Cheviron, Thibault

Author_Institution

Dept. of Eng., Australian Nat. Univ., Canberra, ACT, Australia

fYear

2007

fDate

2-5 July 2007

Firstpage

3763

Lastpage

3770

Abstract

This paper considers the problem of obtaining high quality pose estimation (position and orientation) from a combination of low cost sensors, such as an inertial measurement unit and vision sensor. A non-linear complementary filter is proposed that evolves on the Special Euclidean Group SE(3). Exponential stability of the filter is proved. Simulation results are presented to illustrate simplicity and demonstrate the performance of the proposed approach. Experimental results reinforce the convergence of the filter.

Keywords

asymptotic stability; attitude measurement; autonomous aerial vehicles; image sensors; inertial systems; nonlinear filters; pose estimation; robot kinematics; SE(3) special Euclidean group; exponential stability; inertial measurement unit; nonlinear complementary filter design; orientation estimation; pose estimation; position estimation; sensors; vision sensor; Angular velocity; Australia; Estimation; Measurement uncertainty; Noise; Vehicles; Velocity measurement; Complementary Filter; Non-linear Filter; Special Euclidean Group;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2007 European

Conference_Location

Kos

Print_ISBN

978-3-9524173-8-6

Type

conf

Filename

7068746