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

被引：0
|
作者：
Sun, Shihao [1 ,2 ]
Jia, Yingmin [1 ,2 ]
机构：
[1] Beihang Univ BUAA, Sch Automat Sci & Elect Engn, Res Div 7, Beijing 100191, Peoples R China
[2] Beihang Univ BUAA, Sch Automat Sci & Elect Engn, Ctr Informat & Control, Beijing 100191, Peoples R China
来源：
JOURNAL OF ROBOTICS NETWORKING AND ARTIFICIAL LIFE | 2016年 / 3卷 / 02期
关键词：
attitude and position estimation; EKF; inertial sensor; vision sensor;
D O I：
10.2991/jrnal.2016.3.2.8
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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.
引用
收藏
页码：102 / 106
页数：5
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