Second-order recursive filtering on the rigid-motion Lie group SE₃ based on nonlinear observations

DOI10.1007/S10851-016-0693-1zbMATH Open1425.94009arXiv1507.06810OpenAlexW2963836651WikidataQ115383726 ScholiaQ115383726MaRDI QIDQ1707992FDOQ1707992

Authors: Johannes Berger, Frank Lenzen, Florian Becker, Andreas Neufeld, Christoph Schnörr 

Publication date: 4 April 2018

Published in: Journal of Mathematical Imaging and Vision (Search for Journal in Brave)

Abstract: Camera motion estimation from observed scene features is an important task in image processing to increase the accuracy of many methods, e.g. optical flow and structure-from-motion. Due to the curved geometry of the state space SE(3) and the non-linear relation to the observed optical flow, many recent filtering approaches use a first-order approximation and assume a Gaussian a posteriori distribution or restrict the state to Euclidean geometry. The physical model is usually also limited to uniform motions. We propose a second-order minimum energy filter with a generalized kinematic model that copes with the full geometry of SE(3) as well as with the nonlinear dependencies between the state space and observations. The derived filter enables reconstructing motions correctly for synthetic and real scenes, e.g. from the KITTI benchmark. Our experiments confirm that the derived minimum energy filter with higher-order state differential equation copes with higher-order kinematics and is also able to minimize model noise. We also show that the proposed filter is superior to state-of-the-art extended Kalman filters on Lie groups in the case of linear observations and that our method reaches the accuracy of modern visual odometry methods.

Full work available at URL: https://arxiv.org/abs/1507.06810

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zbMATH Keywords

optimal controlLie groupvisual odometryrecursive filteringconstant acceleration modelminimum energy filter

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Image processing (compression, reconstruction, etc.) in information and communication theory (94A08)

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Cited In (7)

• Second-order-optimal filtering on SE\((2)\times\mathbb{R}^2\) for the Chaplygin sleigh
• Second Order Minimum Energy Filtering on $${\text {SE}}_{3}$$ with Nonlinear Measurement Equations
• Second-order theory of error propagation on motion groups
• From intrinsic optimization to iterated extended Kalman filtering on Lie groups
• The motor extended Kalman filter: A geometric approach for rigid motion estimation
• Wide-sense estimation on the special orthogonal group
• Second-Order-Optimal Minimum-Energy Filters on Lie Groups

Uses Software

• EKF/UKF Toolbox
• KITTI

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