Browsing NTNU Open by Author "Sjøberg, Alexander Meyer"
Now showing items 1-6 of 6
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An EKF for Lie Groups with Application to Crane Load Dynamics
Sjøberg, Alexander Meyer; Egeland, Olav (Journal article; Peer reviewed, 2019)An extended Kalman filter (EKF) for systems with configuration given by matrix Lie groups is presented. The error dynamics are given by the logarithm of the Lie group and are based on the kinematic differential equation ... -
Applied Runge–Kutta–Munthe-Kaas Integration for the Quaternion Kinematics
Sveier, Aksel; Sjøberg, Alexander Meyer; Egeland, Olav (Journal article; Peer reviewed, 2019) -
Estimation and control on Lie groups based on formulations on the Lie algebra
Sjøberg, Alexander Meyer (Doctoral theses at NTNU;2020:52, Doctoral thesis, 2020) -
Estimation of ship-deck motion using lidar, gyroscopes and cameras
Holen, Hans Kristian Raknerud; Sjøberg, Alexander Meyer; Egeland, Olav (Peer reviewed; Journal article, 2021)This paper presents a system for the estimation of ship deck motion using camera, lidar and gyroscopes. A camera is used in a vision system that is based on the detection of lines as input to a vanishing point detector. ... -
Kinematic Feedback Control Using Dual Quaternions
Sjøberg, Alexander Meyer; Egeland, Olav (Chapter, 2018)This paper presents results on kinematic controllers for the stabilization of rigid body displacements using dual quaternions. The paper shows how certain results for quaternion stabilization of rotation can be extended ... -
Lie Algebraic Unscented Kalman Filter for Pose Estimation
Sjøberg, Alexander Meyer; Egeland, Olav (Peer reviewed; Journal article, 2021)An unscented Kalman filter for matrix Lie groups is proposed where the time propagation of the state is formulated on the Lie algebra. This is done with the kinematic differential equation of the logarithm, where the inverse ...