Second Order Minimum Energy Filtering on {\text {SE}}_{3} with Nonlinear Measurement Equations

DOI10.1007/978-3-319-18461-6_32MaRDI QIDQ3300323zbMATH OpenOpenAlexFDO

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

Publication date 28 July 2020

Published in Lecture Notes in Computer Science (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1502.07903

zbMATH Keywords

Lie groupsminimum energy filteroptimal controlvisual odometry

Mathematics Subject Classification ID

Optimality conditions for problems involving ordinary differential equations (49K15) Numerical methods based on necessary conditions (49M05) Discrete approximations in optimal control (49M25) Machine vision and scene understanding (68T45) Filtering in stochastic control theory (93E11)

Abstract: Accurate camera motion estimation is a fundamental building block for many Computer Vision algorithms. For improved robustness, temporal consistency of translational and rotational camera velocity is often assumed by propagating motion information forward using stochastic filters. Classical stochastic filters, however, use linear approximations for the non-linear observer model and for the non-linear structure of the underlying Lie Group $operatorname{SE}_3$ and have to approximate the unknown posteriori distribution. In this paper we employ a non-linear measurement model for the camera motion estimation problem that incorporates multiple observation equations. We solve the underlying filtering problem using a novel Minimum Energy Filter on $operatorname{SE}_3$ and give explicit expressions for the optimal state variables. Experiments on the challenging KITTI benchmark show that, although a simple motion model is only employed, our approach improves rotational velocity estimation and otherwise is on par with the state-of-the-art.

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Cites work

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Cited in

(5)

• Wide-sense estimation on the special orthogonal group
• Second-order recursive filtering on the rigid-motion Lie group \(\mathrm{SE}_3\) based on nonlinear observations
• Nonlinear stochastic position and attitude filter on the special Euclidean group 3
• The motor extended Kalman filter: A geometric approach for rigid motion estimation
• Second-order-optimal filtering on SE\((2)\times\mathbb{R}^2\) for the Chaplygin sleigh

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