View source for EKF on Manifolds

{{Project
|title=EKF on Manifolds
|image=SE3_Manifold.jpg
|short_descr=Extended Kalman Filtering operating on Lie Groups
|coordinator=MatteoMatteucci
|tutor=Davide Cucci
|collaborator=None
|students=SimoneStefanini
|resarea=Robotics
|restopic=Robot development
|start=01/05/2013
|end=
|status=Active
}}

Extended Kalman filtering is a well known technique for the estimation of the state of a dynamical system also used in robotics for localization and mapping. However in the basic formulation it assumes all variables to live in an Euclidean space while some components may span over the non-Euclidean 2D or 3D rotation group SO(2) or SO(3). The aim of this project is to write an Extended Kalman filter to operate on Lie Groups to take into account the presence of manifolds.