  A nonlinear observer on the Special Euclidean group $\mathrm{SE(3)}$ for full
pose estimation, that takes the system outputs on the real projective space
directly as inputs, is proposed. The observer derivation is based on a recent
advanced theory on nonlinear observer design. A key advantage with respect to
existing pose observers on $\mathrm{SE(3)}$ is that we can now incorporate in a
unique observer different types of measurements such as vectorial measurements
of known inertial vectors and position measurements of known feature points.
The proposed observer is extended allowing for the compensation of unknown
constant bias present in the velocity measurements. Rigorous stability analyses
are equally provided. Excellent performance of the proposed observers are shown
by means of simulations.
