Related papers: Algorithm for Sensor Network Attitude Problem
This paper presents solutions to the following two common quaternion attitude estimation problems: (i) estimation of attitude using measurement of two reference vectors, and (ii) estimation of attitude using rate measurement and measurement…
In this paper we consider the localization problem for a visual sensor network. Inspired by the alternate attitude and position distributed optimization framework discussed in [1], we propose an estimation scheme that exploits the unit dual…
All quaternion methods for static attitude determination currently rely on either the spectral decomposition of a 4 x 4 matrix (q-Method) or finding the maximum eigenvalue of a 4th-order characteristic equation (QUEST). Using a spectral…
Inertial measurement units are commonly used to estimate the attitude of moving objects. Numerous nonlinear filter approaches have been proposed for solving the inherent sensor fusion problem. However, when a large range of different…
This paper concerns the problem of attitude determination and estimation. The early applications considered algebraic methods of attitude determination. Attitude determination algorithms were supplanted by the Gaussian attitude estimation…
This paper presents a solution based on dual quaternion algebra to the general problem of pose (i.e., position and orientation) consensus for systems composed of multiple rigid-bodies. The dual quaternion algebra is used to model the…
The global attitude synchronization problem is studied for networked rigid bodies under directed topologies. To avoid the asynchronous pitfall where only vector parts converge to some identical value but scalar parts do not, multiplicative…
We consider the task of identifying attitudes towards a given set of entities from text. Conventionally, this task is decomposed into two separate subtasks: target detection that identifies whether each entity is mentioned in the text,…
This paper presents theory, application, and comparisons of the feedback particle filter (FPF) algorithm for the problem of attitude estimation. The paper builds upon our recent work on the exact FPF solution of the continuous-time…
There are several attitude estimation algorithms in existence, all of which use local coordinate representations for the group of rigid body orientations. All local coordinate representations of the group of orientations have associated…
Attitude determination using the smartphone's inertial sensors poses a major challenge due to the sensor low-performance grade and variate nature of the walking pedestrian. In this paper, data-driven techniques are employed to address that…
Knowledge of how a body is oriented relative to the world is frequently invaluable information in the field of robotics. An attitude estimator that fuses 3-axis gyroscope, accelerometer and magnetometer data into a quaternion orientation…
We present a novel solution to the camera pose estimation problem, where rotation and translation of a camera between two views are estimated from matched feature points in the images. The camera pose estimation problem is traditionally…
This paper addresses the attitude tracking of a rigid body using a quaternion description. Global finite-time attitude controllers are designed with three types of measurements, namely, full states, attitude plus constant-biased angular…
This paper investigates the robust global attitude stabilization problem for a rigid-body system using quaternion-based feedback. We propose a novel synergistic hybrid feedback with the following notable features: (1) It demonstrates…
This paper addresses the distributed attitude synchronization problem for a network of rigid-body systems on the special orthogonal group SO(3). Each agent measures, in its body frame, its own angular velocity and a set of vectors whose…
Attitude estimation using scalar measurements, corresponding to partial vectorial observations, arises naturally when inertial vectors are not fully observed but only measured along specific body-frame vectors. Such measurements arise in…
Inertial-sensor-based attitude estimation is a crucial technology in various applications, from human motion tracking to autonomous aerial and ground vehicles. Application scenarios differ in characteristics of the performed motion,…
The attitude space has been parameterized in various ways for practical purposes. Different representations gain preferences over others based on their intuitive understanding, ease of implementation, formulaic simplicity, and physical as…
Inertial sensors based on micro-electromechanical systems (MEMS) technology, such as accelerometers and angular rate sensors, are cost-effective solutions used in inertial navigation systems in a broad spectrum of applications that estimate…