6 citations · 6 across the 7 of their papers we have counts for
4 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…