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Çѱ¹·Îº¿ÇÐȸ ´º½º·¹ÅÍ 9¿ùÈ£ [ 2019. Vol. 3 ] |
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< QuaternionÀ» »ç¿ëÇÑ ÀÚ¼¼ ÃßÁ¤°ú Invariant EKF > Á¶¼±´ëÇб³ °í³«¿ë ±³¼ö
- quaternionÀ» »ç¿ëÇÏ¿© vehicleÀÇ ÀÚ¼¼³ª ȸÀüÀ» ³ªÅ¸³»°í, quaternionÀ» state variable ¶Ç´Â measurement variable·Î »ç¿ëÇÏ¿© ÃßÁ¤¿¡ ÀÌ¿ëÇϴµ¥ À¯¿ëÇÑ ³»¿ëÀÌ Á¤¸®µÈ ÀÚ·á
- [1] Sola, Joan. "Quaternion kinematics for the error-state Kalman filter." arXiv preprint arXiv:1711.02508 (2017).
- Manifold ¶Ç´Â SO3(Special Orthogonal Group 3)¿¡ ¼ÓÇÏ´Â ÀÚ¼¼ ¶Ç´Â ȸÀü¿¡ °üÇÑ Lie Theory¸¦ ·Îº¿ °øÇÐÀÚÀÇ ÀÔÀå¿¡¼ ÃÖ¼ÒÈÇÏ¿© ¼³¸íÇÑ ÀÚ·á. ¼öÇÐÀû ¿ë¾îÀÌÁö¸¸ ³»¿ëÀº ÀÚ¼¼ ¶Ç´Â ȸÀü¿¡ °üÇØ ±âÁ¸¿¡ ¾Ë°í ÀÖ´ø ³»¿ëÀ» Lie Theory °üÁ¡¿¡¼ ¼³¸íÇÔ. Invariant Kalman filter¸¦ ÀÌÇØÇϱâ À§ÇÑ ÃÖ¼ÒÇÑÀÇ Lie Theory¸¦ ¸ð¾ÆµÒ. À§ [1]ÀÇ ÀڷḦ °øºÎÇÑ ÈÄ Âü°íÇÏ¸é ´õ ½±°Ô ÀÌÇØµÊ.
- [2] Solà, Joan, Jeremie Deray, and Dinesh Atchuthan. "A micro Lie theory for state estimation in robotics." arXiv preprint arXiv:1812.01537 (2018).
- quaternionÀ» »ç¿ëÇÏ¿© ÀÚ¼¼³ª ȸÀüÀ» Ç¥ÇöÇÏ´Â °æ¿ì, quaternionÀÇ Æò±ÕÀ» ±¸ÇÏ¿©¾ß ÇÒ Çʿ䰡 »ý±â´Âµ¥, ÀÌ °æ¿ì »ç¿ëÇÒ ¼ö ÀÖ´Â ¹æ¹ýÀÌ ¼³¸íµÈ ÀÚ·á.
- [3] Kraft, Edgar. "A quaternion-based unscented Kalman filter for orientation tracking." Proceedings of the Sixth International Conference of Information Fusion. Vol. 1. 2003.
- [4] Markley, F. Landis, et al. "Averaging quaternions." Journal of Guidance, Control, and Dynamics 30.4 (2007): 1193-1197.
- Invariant Kalman filter¸¦ Á¾ÇÕÀûÀ¸·Î Á¤¸®ÇÏ¿© ¼³¸íÇÑ ÀÚ·á. À§ÀÇ [1]°ú [2]¿¡ ´ëÇÑ ÀÌÇØ¸¦ ¹ÙÅÁÀ¸·Î Invariant Kalman filter¸¦ Á¾ÇÕÀûÀ¸·Î Á¤¸®ÇÑ ÀÚ·á. ±âÁ¸¿¡ Silvere BonnabelÀ» Áß½ÉÀ¸·Î ÀÌ·ç¾îÁø Invariant Kalman filter °ü·Ã ¿¬±¸ ³»¿ëÀ» ÅëÇÕÇÏ¿© Á¤¸®ÇÔ.
- [5] Barrau, Axel, and Silvere Bonnabel. "Invariant kalman filtering." Annual Review of Control, Robotics, and Autonomous Systems 1 (2018): 237-257.
- [6] Barrau, Axel, and Silvère Bonnabel. "The invariant extended Kalman filter as a stable observer." IEEE Transactions on Automatic Control 62.4 (2016): 1797-1812.
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- 2019³â Çѱ¹·Îº¿ÇÐȸ ¿¬È¸ºñ ³³ºÎ ¾È³»

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< ÇÐȸ ÁÖ°ü ¹× ÈÄ¿ø ÇмúÇà»ç >
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- Ubiquitous Robots 2020 (UR 2020), 2020³â 6¿ù 22ÀÏ(¿ù)~26ÀÏ(±Ý), ÀϺ» ±³Åä
- ³í¹® Á¢¼ö ¸¶°¨: 2020³â 1¿ù 31ÀÏ(±Ý)
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- Çѱ¹·Îº¿ÇÐȸ-·Îº¿½Å¹® °øµ¿±âȹ 'ÀþÀº ·Îº¿ °øÇÐÀÚ' ÀÎÅͺä
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- ¼¿ï°ú±â´ë Á¤±¤ÇÊ ±³¼ö ÀÎÅͺä 
- IEEE International Conference on Advanced Robotics & Mechatronics (ICARM 2019),
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- ƯÁý: ICRA 2019 º¸ÇàÁ¶ÀÛ¿¬±¸
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»ç´Ü¹ýÀÎ Çѱ¹·Îº¿ÇÐȸ (Korea Robotic Society)
(¿ì)06130, ¼¿ïƯº°½Ã °³²±¸ Å×Çì¶õ·Î 7±æ 22 (¿ª»ïµ¿ 635-4) Çѱ¹°úÇбâ¼úȸ°ü ½Å°ü 506È£ (»ç)Çѱ¹·Îº¿ÇÐȸ »ç¹«±¹
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