Continuous-discrete extended Kalman filter on matrix Lie groups using concentrated Gaussian distributions

DOI10.1007/s10851-014-0517-0zbMath1397.94014OpenAlexW2018655096WikidataQ115383730 ScholiaQ115383730MaRDI QIDQ2353429

Audrey Giremus, Rémi Mégret, Guillaume Bourmaud, Marc Arnaudon

Publication date: 14 July 2015

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

Full work available at URL: https://doi.org/10.1007/s10851-014-0517-0

zbMATH Keywords

extended Kalman filtermatrix Lie groupstochastic processes on manifoldscamera pose filteringfiltering on manifold

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Signal theory (characterization, reconstruction, filtering, etc.) (94A12)

Related Items (4)

From intrinsic optimization to iterated extended Kalman filtering on Lie groups ⋮ Invariant extended Kalman filter on matrix Lie groups ⋮ Extended information filter on matrix Lie groups ⋮ Second-order recursive filtering on the rigid-motion Lie group \(\mathrm{SE}_3\) based on nonlinear observations

Uses Software

• MonoSLAM

Cites Work

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