Observability Conditions and Filter Design for Visual Pose Estimation via Dual Quaternions
This paper presents a dual quaternion framework for 6-DOF visual target tracking that addresses key limitations of perspective-n-point (P$n$P) solvers: sensitivity to noise and outliers, and inability to propagate estimates through measurement dropouts. A nonlinear observability analysis is performed using a Lie algebraic approach, deriving sufficient conditions for local observability under two sensing modalities: relative position vector and unit vector measurements. For the unit vector case, the classical collinear feature point degeneracy of the perspective-three-point problem is recovered through rank analysis of the observability codistribution matrix, providing a control-theoretic ...
| Authors | Nicholas B. Andrews, Kristi A. Morgansen |
|---|---|
| Primary category | eess.SY |
| Published | 3 May 2026 |
| Last updated at source | 3 May 2026 |
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