A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is
In this paper we consider the problem of estimating the attitude of a rigid body equipped with a triad of rate gyros and a pan and tilt camera. The nonlinear attitude observer integrates angular velocity measurements from rate gyros, with images of a planar scene provided by the camera. By exploiting directly sensor information, i) a stabilizing feedback law is introduced and exponential convergence to the origin of the estimation errors is shown; ii) an active vision system is proposed thatdoi:10.1109/cdc.2009.5400904 dblp:conf/cdc/BrasCVSO09 fatcat:257rl7lfljhhtdg3cxfz7flogq