Output details
13 - Electrical and Electronic Engineering, Metallurgy and Materials
Imperial College London : A - Electrical and Electronic engineering
A Semidefinite Relaxation-Based Algorithm for Robust Attitude Estimation
Attitude estimation problems involving large data uncertainties, such as arise in satellite, aerospace and computer vision applications, can be formulated as versions of the classical Procrustes problem. This paper, in the leading signal processing journal, is the first to provide a solution to this challenging, non-convex problem, based on semi-definite relaxation. The solution provided is numerically tractable since it involves the solution of a related convex optimization optimization problem, and, significantly, is one of the few relaxation approaches which provide exact solutions under a wide class of data uncertainties.