کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
698080 | 890392 | 2006 | 4 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Observability analysis of rotation estimation by fusing inertial and line-based visual information: A revisit
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Observability analysis of rotation estimation by fusing inertial and line-based visual information: A revisit Observability analysis of rotation estimation by fusing inertial and line-based visual information: A revisit](/preview/png/698080.png)
چکیده انگلیسی
This note presents a simple approach to the observability analysis of the rotation estimation using line-based dynamic vision and inertial sensors. The problem was originally raised and formulated in Rehbinder, and Ghosh [2003. Pose estimation using line-based dynamic vision and inertial sensors. IEEE Transactions on Automatic Control, 48(2), 186–199.] where the unobservable subgroup was derived using complex matrix manipulations. By solving linear quaternion equations and using set operations, we not only successfully obtain the same result but also naturally extend it for the case with linearly dependent lines. The development in this note is more straightforward and gives rise to a clearer picture of the problem.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automatica - Volume 42, Issue 10, October 2006, Pages 1809–1812
Journal: Automatica - Volume 42, Issue 10, October 2006, Pages 1809–1812
نویسندگان
Yuanxin Wu, Dewen Hu, Meiping Wu, Xiaoping Hu, Tao Wu,