6 citations · 14 across the 8 of their papers we have counts for
8 papers · 1 filter
Observability Conditions and Filter Design for Visual Pose Estimation via Dual Quaternions
Nicholas B. Andrews, Kristi A. Morgansen
This paper presents a dual quaternion framework for 6-DOF visual target tracking that addresses key limitations of perspective-n-point (PP) solvers: sensitivity to noise and out…
Sensor Placement on a Cantilever Beam Using Observability Gramians
Natalie L. Brace, Nicholas B. Andrews, Jeremy Upsal +1
Working from an observability characterization based on output energy sensitivity to changes in initial conditions, we derive both analytical and empirical observability Gramian to…
Optimal Fiducial Marker Placement for Satellite Proximity Operations Using Observability Gramians
Nicholas B. Andrews, Kristi A. Morgansen
This paper investigates optimal fiducial marker placement on the surface of a satellite performing relative proximity operations with an observer satellite. The absolute and relati…
Relative Pose Observability Analysis Using Dual Quaternions
Nicholas B. Andrews, Kristi A. Morgansen
Relative pose (position and orientation) estimation is an essential component of many robotics applications. Fiducial markers, such as the AprilTag visual fiducial system, yield a…
Sensor Placement for Flapping Wing Model Using Stochastic Observability Gramians
Burak Boyacıoğlu, Mahnoush Babaei, Amanuel H. Mamo +3
Systems in nature are stochastic as well as nonlinear. In traditional applications, engineered filters aim to minimize the stochastic effects caused by process and measurement nois…
Observability Conditions and Sensing Quality for Unicycle Systems with Constant External Forcing
Natalie Brace, Kristi A. Morgansen
In certain systems which are subject to significant constant external forcing such as an airplane in wind or an underwater glider in ocean currents, the ability to detect the forci…