摘要：AbstractThis paper proposes an equivariant observer for second order pose estimation of a rigid body. The observer exploits the second order kinematic model and its symmetry group. The observer uses conventional sensors and simple computations that allow it to be run on resource-constrained devices. The observer design is based on the lifted kinematics and we prove its asymptotic convergence property. The performance of the observer is demonstrated in simulation.
关键词：KeywordsEstimationfilteringContinuous time system estimationsecond order kinematicsequivariant observersymmetry groupvirtual realityaugmented reality
