The work derives observability conditions for dual quaternion-based visual pose estimation and designs a Lie group unscented Kalman filter that improves robustness to occlusions over standard PnP methods.
Dual quaternion kalman filtering and observability analysis for satellite relative navigation with line-of-sight measurements,
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Observability Conditions and Filter Design for Visual Pose Estimation via Dual Quaternions
The work derives observability conditions for dual quaternion-based visual pose estimation and designs a Lie group unscented Kalman filter that improves robustness to occlusions over standard PnP methods.