Blar i NTNU Open på forfatter "Bjørne, Elias"

Viser treff 1-8 av 8

    • Cascade Attitude Observer for the SLAM filtering problem 

      Bjørne, Elias; Johansen, Tor Arne; Brekke, Edmund Førland (Journal article; Peer reviewed, 2017)
      This article presents an attitude observer that exploits both bearing and range measurements from landmarks, in addition to reference vectors such as magnetometer and accelerometer. It is a gyro bias observer in cascade ...

    • Estimating vector magnitude from its direction and derivative, with application to bearing-only SLAM filter problem 

      Bjørne, Elias; Johansen, Tor Arne; Delaune, Jeff (Journal article; Peer reviewed, 2019)
      For some problems, such as monocular visual odometry (VO), vector measurements are given with unknown magnitude. In VO, the magnitude can be found by recognizing features with known position, or with an extra sensor such ...

    • Globally Stable Observers for Simultaneous Localization and Mapping 

      Bjørne, Elias (Doctoral theses at NTNU;2019:349, Doctoral thesis, 2019)
      This thesis focuses on developing observers that can be applied to simultaneous localization and mapping (SLAM), with an emphasis on developing observers that has theoretical proof of convergence. The motivation for this ...

    • Globally Stable Velocity Estimation Using Normalized Velocity Measurement 

      Bjørne, Elias; Brekke, Edmund Førland; Bryne, Torleiv Håland; Delaune, Jeff; Johansen, Tor Arne (Journal article; Peer reviewed, 2019)
      The problem of estimating velocity from a monocular camera and calibrated inertial measurement unit (IMU) measurements is revisited. For the presented setup, it is assumed that normalized velocity measurements are available ...

    • Modular Client Framework for Evaluation of Visual Navigation Systems in Unreal Engine 

      Haugane, Sveinung Aanbye (Master thesis, 2019)
      I de senere åra har spillmotorer, som Unreal Engine, blitt brukt mer og mer grunnet deres evne til å gengi realistiske miljøer, og dermed kunne generere syntetiske dataset for bruk i visuell navigering. Å koble sammen disse ...

    • Performance Comparison of Backstepping-Based Adaptive Controllers for Marine Surface Vessels 

      Sørensen, Mikkel Eske Nørgaard; Bjørne, Elias; Breivik, Morten (Chapter, 2016)
      This paper deals with the design and evaluation of three controllers based on backstepping and different adaptive control schemes, which are applied to the motion control of a nonlinear 3 degrees-of-freedom model of a ...

    • Redesign and Analysis of Globally Asymptotically Stable Bearing Only SLAM 

      Bjørne, Elias; Johansen, Tor Arne; Brekke, Edmund Førland (Chapter; Peer reviewed, 2017)
      The Simultaneous Localization And Mapping (SLAM) estimation problem is a nonlinear problem, due to the nature of the range and bearing measurements. In latter years it has been demonstrated that if the nonlinearities from ...

    • Semiglobally Asymptotically Stable Nonlinear Observer for Camera Aided Navigation 

      Bjørne, Elias; Brekke, Edmund Førland; Bryne, Torleiv Håland; Johansen, Tor Arne (Peer reviewed; Journal article, 2020)
      This brief presents a nonlinear observer that performs range estimation as well as gyro-bias estimation by using velocity, angular rate, and bearing angle measurements from landmarks at unknown locations. The observer is ...