Observability Conditions and Filter Design for Visual Pose Estimation via Dual Quaternions

ArXi:2605.02054v1 Announce Type: cross 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.