Riccati Observers for the Nonstationary PnP Problem

Abstract

This paper revisits the problem of estimating the pose (position and orientation) of a body in 3-D space with respect to (w.r.t.) an inertial frame by using 1) the knowledge of source points positions in the inertial frame, 2) the measurements of the body angular velocity expressed in the body's frame, 3) the measurements of the body translational velocity… (More)
DOI: 10.1109/TAC.2017.2726179

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