A deterministic method for sequential estimation of 3-D rotations is presented. The Bingham distribution is used to represent uncertainty directly on the unit quaternion hypersphere. Quaternions avoid the degeneracies of other 3-D orientation representations, while the Bingham distribution allows tracking of large-error (high-entropy) rotational distributions. Experimental comparison to a leadi...

We present a novel quaternion-based formulation of Particle Swarm Optimization for pose estimation which, differently from other approaches, does not rely on image features or machine learning. The quaternion formulation avoids the gimbal lock problem, and the objective function is based on raw 2D depth information only, under the assumption that the object region is segmented from the backgrou...

Multimodal visual haptic user interfaces can be made more effective by accurately colocating the workspaces of their components. We have developed a coregistration technique for pose measurement devices based on nonlinear least squares parameter estimation. A reduced quaternion parameterization is used for representing the orientation component of coordinate transformations, which avoids the nu...

An extended Kalman filter is derived for estimating the relative position and attitude of a pair of uninhabited air vehicles, designated leader and follower. All leader states are assumed known, while the relative states are estimated using line-of-sight measurements between the vehicles along with angular rate and acceleration measurements of the follower. Noise is present on all measurements,...

In this paper we provide a constructive version of Tits alternative for a broad class of quaternions with algebraic coefficients. Our result is a generalization of that contained in the paper [1], concerning groups of rational quaternions. Indeed, the tools developed in [1] can be extended to arbitrary number fields by translating them in the corresponding Dedekind domain, as the techniques inv...

We introduce a novel framework of continuous-time ultra-wideband-inertial sensor fusion for online motion estimation. Quaternion-based cubic cumulative B-splines are exploited parameterizing states continuously over time. Systematic derivations analytic kinematic interpolations and spatial differentiations further provided. Based thereon, new sliding-window spline fitting scheme is established ...

This paper concerns the estimation problem of attitude, position, and linear velocity a rigid-body autonomously navigating with six degrees freedom (6 DoF). The navigation dynamics are highly nonlinear modeled on matrix Lie group extended Special Euclidean Group SE2(3). A computationally cheap geometric stochastic filter is proposed SE2(3) guaranteed transient steady-state performance. operates...

Extended Kalman filter (EKF) has been widely used for attitude determination in various satellite missions. However, it 1 requires an extensive computational power which is not suitable for nano-satellite application. This paper proposes a gain-scheduled 2 EKF (GSEKF) to reduce the computational requirement in nano-satellite attitude determination process. The proposed GSEKF 3 eliminates the on...

in the procedure of designing an underwater vehicle or robot, its maneuverability and controllability must be simulated and tested, before the product is finalized for manufacturing. since the hydrodynamic forces and moments highly affect the dynamic and maneuverability of the system, they must be estimated with a reasonable accuracy. in this study, hydrodynamic coefficients of an autonomous un...