Efficient Invariant Kalman Filter for Inertial-based Odometry with Large-sample Environmental Measurements
A filter for inertial-based odometry is a recursive method used to estimate the pose from
measurements of ego-motion and relative pose. Currently, there is no known filter that …
measurements of ego-motion and relative pose. Currently, there is no known filter that …
Uncertainty Propagation and Bayesian Fusion on Unimodular Lie Groups from a Parametric Perspective
J Ye, GS Chirikjian - arXiv preprint arXiv:2401.03425, 2024 - arxiv.org
We address the problem of uncertainty propagation and Bayesian fusion on unimodular Lie
groups. Starting from a stochastic differential equation (SDE) defined on Lie groups via …
groups. Starting from a stochastic differential equation (SDE) defined on Lie groups via …
A Closed-form Solution for the Strapdown Inertial Navigation Initial Value Problem
Strapdown inertial navigation systems (SINS) are ubiquitious in robotics and engineering
since they can estimate a rigid body pose using onboard kinematic measurements without …
since they can estimate a rigid body pose using onboard kinematic measurements without …
Uncertainty Propagation on Unimodular Lie Groups Using a Gaussian Approximation
J Ye, GS Chirikjian - RSS 2024 Workshop on Geometric and Algebraic … - openreview.net
We discuss the connection between two definitions of stochastic differential equations
(SDEs) on unimodular Lie groups and derive the mean and covariance propagation …
(SDEs) on unimodular Lie groups and derive the mean and covariance propagation …