Sigma point Kalman filtering on matrix Lie groups applied to the SLAM problem

DOI10.1007/978-3-319-68445-1_37MaRDI QIDQ1689153zbMATH OpenOpenAlexFDO

Authors James Richard Forbes, David Evan Zlotnik

Publication date 12 January 2018

Full work available at URL https://doi.org/10.1007/978-3-319-68445-1_37

zbMATH Keywords

estimationsimultaneous localization and mappingmatrix Lie groupsigma-point Kalman filtering

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Signal detection and filtering (aspects of stochastic processes) (60G35) Measures of information, entropy (94A17)

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(6)

• From intrinsic optimization to iterated extended Kalman filtering on Lie groups
• Invariant extended Kalman filter on matrix Lie groups
• Continuous-discrete extended Kalman filter on matrix Lie groups using concentrated Gaussian distributions
• Variational unscented Kalman filter on matrix Lie groups
• Bayesian fusion on Lie groups
• Unscented Kalman filtering on Riemannian manifolds

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