UAV Attitude Estimation using Visual and Inertial Data Fusion based on Observer in SO(3)

In this paper, a visual and inertial data fusion using an observer in SO (3) is presented. Visual data are acquired using Optical flow technique where the Lucas and Kanade method is used to estimate the displacement of points (pixels) representing lines selected in a scene. The orientation vectors for each line are computed and combined with the gyrometer data for data fusion with an observer in SO (3) to estimate the attitude of an Unmanned Aerial Vehicle UAV in 3D space.