Extended Kalman Filtering on Manifolds
Revision as of 00:36, 22 December 2014 by MatteoMatteucci
|Title:||Extended Kalman Filtering on Manifolds|| |
|Description:||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). It is thus possible to write tha Extended Kalman filter to operate on Lie Groups to take into account the presence of manifolds (http://www.ethaneade.org/latex2html/lie/lie.html). We are interestend in investigation this further applying it to the EKF-SLAM framework we have developed.
Required skills or skills to be acquired:
|Tutor:||MatteoMatteucci (email@example.com), SimoneCeriani (firstname.lastname@example.org), DavideCucci (email@example.com)|
|Students:||1 - 2|
|CFU:||20 - 20|