Closed-form Error Propagation on the SEn(3) Group for Invariant Extended Kalman Filtering with Applications to VINS

被引：0

作者：

Li, Xinghan ^{[1
]}

Jiang, Haodong ^{[2
]}

Chen, Xingyu ^{[2
]}

Kong, He ^{[3
]}

Wu, Junfeng ^{[2
]}

机构：

[1] The College of Control Science and Engineering, The State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, China

[2] The School of Data Science, The Chinese University of Hong Kong, Shenzhen, China

[3] The Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China

来源：

arXiv | 2022年

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摘要：

Lie groups - Motion planning - Robot programming - Simulation platform

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