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Contact: Jochen.Trumpf@anu.edu.au COMPUTER VISION AND ROBOTICS SERIES
Inertial Vision Pose Estimation Using Non-Linear ObserversGrant Baldwin (The Australian National University)DATE: 2009-10-08 TIME: 16:00:00 - 17:00:00 LOCATION: NICTA - 7 London Circuit ABSTRACT: Accurate, high-rate estimation of attitude and position, or pose, is important to many areas of robotics and related disciplines, such as navigation, automation. In humans and other animals, localization occurs through the fusion of inertial measurements from the inner ear and vision measurements. An analogous sensor suite is the combination of an inertial measurement unit and camera in an Inertial Vision sensor package. Inertial vision sensors offer a many desirable characteristics, including complementary noise characteristics, low price and power requirements, independence from external signals, and possibilities for multi-modal use. In this talk I will overview a series of techniques for estimating pose from inertial and vision measurements using non-linear observers, techniques developed during the course of my PhD. The novelty of this work is in using non-linear observers designed on the Lie group SE(3). This approach results in robust estimators with strong local and almost-global stability results and straightforward gain tuning. Further, the observers proposed are suitable for a multi-rate implementation, naturally fitting the case of multiple sensors with different measurement rates.
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