Second-order recursive filtering on the rigid-motion Lie group \(\mathrm{SE}_3\) based on nonlinear observations

DOI10.1007/s10851-016-0693-1zbMath1425.94009arXiv1507.06810OpenAlexW2963836651WikidataQ115383726 ScholiaQ115383726MaRDI QIDQ1707992

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

Publication date: 4 April 2018

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

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

zbMATH Keywords

optimal controlrecursive filteringLie groupvisual odometryconstant 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)

Related Items (1)

From intrinsic optimization to iterated extended Kalman filtering on Lie groups

Uses Software

• EKF/UKF Toolbox
• KITTI

Cites Work

• Fundamentals of stochastic filtering
• Approximate nonlinear filtering by projection on exponential manifolds of densities
• Positive definiteness in the numerical solution of Riccati differential equations
• A generalized projective reconstruction theorem and depth constraints for projective factorization
• Statistics on special manifolds
• Control theory from the geometric viewpoint.
• Continuous-discrete extended Kalman filter on matrix Lie groups using concentrated Gaussian distributions
• Unscented Kalman filtering on Riemannian manifolds
• Maximum-likelihood recursive nonlinear filtering
• Bayesian Fusion on Lie Groups
• Second-Order-Optimal Minimum-Energy Filters on Lie Groups
• Second Order Minimum Energy Filtering on $${\text {SE}}_{3}$$ with Nonlinear Measurement Equations
• Existence and uniqueness theorems for the algebraic Riccati equation
• Feedback Particle Filter on Riemannian Manifolds and Matrix Lie Groups
• Minimum-Energy State Estimation for Systems With Perspective Outputs
• Various Ways to Compute the Continuous-Discrete Extended Kalman Filter
• Optimal Control on Lie Groups: The Projection Operator Approach
• Minimum-Energy Filtering for Attitude Estimation
• Marginalized particle filters for mixed linear/nonlinear state-space models
• Geometric Numerical Integration
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item
• Unnamed Item

This page was built for publication: Second-order recursive filtering on the rigid-motion Lie group \(\mathrm{SE}_3\) based on nonlinear observations