8 papers
Relative Pose-Velocity Estimation Using Dual IMU Measurements and Relative Position Sensing
Alessandro Melis, Tarek Bouazza, Soulaimane Berkane +1
This paper addresses the problem of estimating the relative pose (position and orientation) and velocity of a vehicle with respect to a moving target, where both are equipped with…
Equivariant Observer Design on SL(3) for Image Intensity-Based Homography Estimation
Tarek Bouazza, Pieter van Goor, Robert Mahony +1
This paper addresses the problem of homography estimation using a nonlinear observer designed on the Lie group that exploits the full image information through dir…
Scalar-Measurement Attitude Estimation on with Bias Compensation
Alessandro Melis, Tarek Bouazza, Hassan Alnahhal +3
Attitude estimation methods typically rely on full vector measurements from inertial sensors such as accelerometers and magnetometers. This paper shows that reliable estimation can…
Vision-Aided Relative State Estimation for Approach and Landing on a Moving Platform with Inertial Measurements
Tarek Bouazza, Alessandro Melis, Soulaimane Berkane +2
This paper tackles the problem of estimating the relative position, orientation, and velocity between a UAV and a planar platform undergoing arbitrary 3D motion during approach and…
Observer Design for Optical Flow-Based Visual-Inertial Odometry with Almost-Global Convergence
Tarek Bouazza, Soulaimane Berkane, Minh-Duc Hua +1
This paper presents a novel cascaded observer architecture that combines optical flow and IMU measurements to perform continuous monocular visual-inertial odometry (VIO). The propo…
A Simple Algebraic Solution for Estimating the Pose of a Camera from Planar Point Features
Tarek Bouazza, Tarek Hamel, Claude Samson
This paper presents a simple algebraic method to estimate the pose of a camera relative to a planar target from reference points with known coordinates in the target fra…
Exploiting polar symmetry in designing equivariant observers for vision-based motion estimation
Tarek Bouazza, Robert Mahony, Tarek Hamel
Accurately estimating camera motion from image sequences poses a significant challenge in computer vision and robotics. Many computer vision methods first compute the essential mat…
Nonlinear constructive observer design for direct homography estimation
Tarek Bouazza, Pieter Van Goor, Robert Mahony +1
Feature-based homography estimation approaches rely on extensive image processing for feature extraction and matching, and do not adequately account for the information provided by…