Nonlinear complementary filters on the special linear group
Nonlinear complementary filters on the special linear group
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特殊线性群上的非线性互补滤波器
DOI：
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发表时间：
2012
影响因子：
2.1
通讯作者：
E. Malis
中科院分区：
文献类型：
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作者：
R. Mahony;T. Hamel;P. Morin;E. Malis
本文提出了一种特殊的线性李群SL（3）的非线性互补滤波器，它融合了低频状态测量和部分速度测量以及未测量的缓慢变化的速度分量的自适应估计。所获得的结果有直接的应用程序上的问题，从低质量的视频数据中获得的图像单应性的序列进行过滤。所考虑的应用促使我们得出的结果，提供自适应估计的全部群速度或部分的群速度，不能从连接到相机的传感器测量。我们证明了所提出的过滤器的性能真实的世界单应性数据。
This article proposes a nonlinear complementary filter for the special linear Lie-group SL(3) that fuses low-frequency state measurements with partial velocity measurements and adaptive estimation of unmeasured slowly changing velocity components. The obtained results have direct application on the problem of filtering a sequence of image homographies acquired from low-quality video data. The considered application motivates us to derive results that provide adaptive estimation of the full group velocity or part of the group velocity that cannot be measured from sensors attached to the camera. We demonstrate the performance of the proposed filters on real world homography data.