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Type: Conference paper
Title: A discrete-time attitude observer on SO(3) for vision and GPS fusion
Author: Khosravian, A.
Chin, T.
Reid, I.
Mahony, R.
Citation: IEEE International Conference on Robotics and Automation, 2017, vol.0, pp.5688-5695
Publisher: IEEE
Issue Date: 2017
ISBN: 9781509046331
ISSN: 1050-4729
Conference Name: IEEE International Conference on Robotics and Automation (ICRA2017) (29 May 2017 - 3 Jun 2017 : Singapore)
Statement of
Alireza Khosravian, Tat-Jun Chin, Ian Reid, Robert Mahony
Abstract: This paper proposes a discrete-time geometric attitude observer for fusing monocular vision with GPS velocity measurements. The observer takes the relative transformations obtained from processing monocular images with any visual odometry algorithm and fuses them with GPS velocity measurements. The objectives of this sensor fusion are twofold; first to mitigate the inherent drift of the attitude estimates of the visual odometry, and second, to estimate the orientation directly with respect to the North-East-Down frame. A key contribution of the paper is to present a rigorous stability analysis showing that the attitude estimates of the observer converge exponentially to the true attitude and to provide a lower bound for the convergence rate of the observer. Through 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.
Keywords: Cameras; Global Positioning System; observers; visualization
Rights: © 2017 IEEE
DOI: 10.1109/ICRA.2017.7989669
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