Nonlinear Stochastic Estimators on the Special Euclidean Group SE(3) using Uncertain IMU and Vision Measurements

23 May 2020 Hashim Hashim A Lewis Frank L

Two novel robust nonlinear stochastic full pose (i.e, attitude and position) estimators on the Special Euclidean Group SE(3) are proposed using the available uncertain measurements. The resulting estimators utilize the basic structure of the deterministic pose estimators adopting it to the stochastic sense... (read more)

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