{"id":"https://openalex.org/W2048220770","doi":"https://doi.org/10.1109/acc.2010.5530870","title":"Experimental evaluation of a nonlinear attitude observer based on image and inertial measurements","display_name":"Experimental evaluation of a nonlinear attitude observer based on image and inertial measurements","publication_year":2010,"publication_date":"2010-06-01","ids":{"openalex":"https://openalex.org/W2048220770","doi":"https://doi.org/10.1109/acc.2010.5530870","mag":"2048220770"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2010.5530870","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2010.5530870","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2010 American Control Conference","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5000676964","display_name":"S\u00e9rgio Br\u00e1s","orcid":"https://orcid.org/0000-0002-7979-9358"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"S Bras","raw_affiliation_strings":["Instituto Superior T\u00e9cnico, Institute for Systems and Robotic, Lisboa, Portugal","[Institute for Systems and Robotics (ISR), Instituto Superior T\u00e9cnico, Lisbon, Portugal]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto Superior T\u00e9cnico, Institute for Systems and Robotic, Lisboa, Portugal","institution_ids":["https://openalex.org/I4387152517"]},{"raw_affiliation_string":"[Institute for Systems and Robotics (ISR), Instituto Superior T\u00e9cnico, Lisbon, Portugal]","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I4387152517"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000067769","display_name":"Rita Cunha","orcid":"https://orcid.org/0000-0002-8925-1273"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"R Cunha","raw_affiliation_strings":["Instituto Superior T\u00e9cnico, Institute for Systems and Robotic, Lisboa, Portugal","[Institute for Systems and Robotics (ISR), Instituto Superior T\u00e9cnico, Lisbon, Portugal]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto Superior T\u00e9cnico, Institute for Systems and Robotic, Lisboa, Portugal","institution_ids":["https://openalex.org/I4387152517"]},{"raw_affiliation_string":"[Institute for Systems and Robotics (ISR), Instituto Superior T\u00e9cnico, Lisbon, Portugal]","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I4387152517"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028935383","display_name":"J.F. Vasconcelos","orcid":"https://orcid.org/0000-0003-0557-3425"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"J F Vasconcelos","raw_affiliation_strings":["Instituto Superior T\u00e9cnico, Institute for Systems and Robotic, Lisboa, Portugal","[Institute for Systems and Robotics (ISR), Instituto Superior T\u00e9cnico, Lisbon, Portugal]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto Superior T\u00e9cnico, Institute for Systems and Robotic, Lisboa, Portugal","institution_ids":["https://openalex.org/I4387152517"]},{"raw_affiliation_string":"[Institute for Systems and Robotics (ISR), Instituto Superior T\u00e9cnico, Lisbon, Portugal]","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I4387152517"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035107160","display_name":"Carlos Silvestre","orcid":"https://orcid.org/0000-0002-5096-5527"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"C Silvestre","raw_affiliation_strings":["Instituto Superior T\u00e9cnico, Institute for Systems and Robotic, Lisboa, Portugal","[Institute for Systems and Robotics (ISR), Instituto Superior T\u00e9cnico, Lisbon, Portugal]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto Superior T\u00e9cnico, Institute for Systems and Robotic, Lisboa, Portugal","institution_ids":["https://openalex.org/I4387152517"]},{"raw_affiliation_string":"[Institute for Systems and Robotics (ISR), Instituto Superior T\u00e9cnico, Lisbon, Portugal]","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I4387152517"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024492269","display_name":"Paulo Oliveira","orcid":"https://orcid.org/0000-0002-5799-390X"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"P Oliveira","raw_affiliation_strings":["Instituto Superior T\u00e9cnico, Institute for Systems and Robotic, Lisboa, Portugal","[Institute for Systems and Robotics (ISR), Instituto Superior T\u00e9cnico, Lisbon, Portugal]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto Superior T\u00e9cnico, Institute for Systems and Robotic, Lisboa, Portugal","institution_ids":["https://openalex.org/I4387152517"]},{"raw_affiliation_string":"[Institute for Systems and Robotics (ISR), Instituto Superior T\u00e9cnico, Lisbon, Portugal]","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I4387152517"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.0418,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.84431202,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"4552","last_page":"4557"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.8096178770065308},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6708526015281677},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.644820511341095},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6220723986625671},{"id":"https://openalex.org/keywords/tilt","display_name":"Tilt (camera)","score":0.55953049659729},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5563765168190002},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5458758473396301},{"id":"https://openalex.org/keywords/image-plane","display_name":"Image plane","score":0.521731972694397},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.45674389600753784},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45434826612472534},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.44379934668540955},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44222551584243774},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4338594377040863},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.3246864974498749},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.27950114011764526},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2214769423007965},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21581503748893738},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20424142479896545},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.18772104382514954}],"concepts":[{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.8096178770065308},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6708526015281677},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.644820511341095},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6220723986625671},{"id":"https://openalex.org/C2779844322","wikidata":"https://www.wikidata.org/wiki/Q2919140","display_name":"Tilt (camera)","level":2,"score":0.55953049659729},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5563765168190002},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5458758473396301},{"id":"https://openalex.org/C120515352","wikidata":"https://www.wikidata.org/wiki/Q2564580","display_name":"Image plane","level":3,"score":0.521731972694397},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.45674389600753784},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45434826612472534},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.44379934668540955},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44222551584243774},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4338594377040863},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3246864974498749},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27950114011764526},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2214769423007965},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21581503748893738},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20424142479896545},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.18772104382514954},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2010.5530870","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2010.5530870","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2010 American Control Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1515493836","https://openalex.org/W1544770838","https://openalex.org/W1985293223","https://openalex.org/W1998842416","https://openalex.org/W2016012557","https://openalex.org/W2046287268","https://openalex.org/W2079705635","https://openalex.org/W2098050284","https://openalex.org/W2098956671","https://openalex.org/W2121324469","https://openalex.org/W2125691646","https://openalex.org/W2157747723","https://openalex.org/W2163446304","https://openalex.org/W2164743984","https://openalex.org/W2168771200","https://openalex.org/W2898916015"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2225378543","https://openalex.org/W2083852311","https://openalex.org/W9839718","https://openalex.org/W3110613631","https://openalex.org/W4287122200","https://openalex.org/W2391384635","https://openalex.org/W3047883989","https://openalex.org/W2791453457","https://openalex.org/W2078288244"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"experimentally":[4],"tested":[5],"solution":[6],"to":[7,38],"the":[8,12,40,44,51,69,89,96],"problem":[9],"of":[10,14,50,71,92],"estimating":[11],"attitude":[13,53],"a":[15,22,82],"rigid":[16],"body":[17],"using":[18],"rate":[19,86],"gyros":[20],"and":[21,24,32],"pan":[23,31],"tilt":[25,33],"camera.":[26],"An":[27],"exponential":[28],"input-to-state":[29],"stable":[30],"control":[34],"law":[35],"is":[36,63],"used":[37],"keep":[39],"visual":[41],"features":[42],"in":[43,59],"image":[45],"plane.":[46],"A":[47],"multi-rate":[48],"implementation":[49],"nonlinear":[52],"observer":[54,73],"that":[55],"uses":[56],"recent":[57],"results":[58,79],"geometric":[60],"numeric":[61],"integration":[62],"proposed.":[64],"Practical":[65],"aspects,":[66],"such":[67],"as":[68],"computation":[70],"suitable":[72],"feedback":[74],"gains,":[75],"are":[76],"considered.":[77],"Experimental":[78],"obtained":[80],"with":[81],"high":[83,90],"accuracy":[84],"motion":[85],"table":[87],"demonstrate":[88],"level":[91],"performance":[93],"attained":[94],"by":[95],"proposed":[97],"solution.":[98]},"counts_by_year":[{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
