• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.10a
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• pp.973-975
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• 2016

In this paper, we propose a selective extended Kalman filter based accurate pose estimation of the rigid body using a sensor fusion method. The pose of a rigid body can be estimated roughly by the Gauss-Newton method using the acceleration data and geomagnetic data, which can be refined with vision information and the gyro sensor information. However strong external interference noise makes the rough pose estimation difficult. In this paper, according to the measurement level of the external interference noise, the extended Kalman filter selectively uses mostly vision and gyro sensor information to increase the estimation credibility under strong interference noise environment.