Difference between revisions of "PIXYBOT"

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(Created page with "{{Project |title=Loop-closure detection in mobile robotics |image= |short_descr= |coordinator=MatteoMatteucci |tutor=MatteoMatteucci |collaborator= |students=DavideLaudi |resarea...")
 
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{{Project
 
{{Project
|title=Loop-closure detection in mobile robotics
+
|title=EKF on Manifolds
|image=
+
|image=SE3_Manifold.jpg
|short_descr=
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|short_descr=Extended Kalman Filtering operating on Lie Groups
 
|coordinator=MatteoMatteucci
 
|coordinator=MatteoMatteucci
|tutor=MatteoMatteucci
+
|tutor=DavideCucci
|collaborator=
+
|collaborator=None
|students=DavideLaudi
+
|students=SimoneStefanini
 
|resarea=Robotics
 
|resarea=Robotics
|restopic=Robot development
+
|restopic=None
|start=
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|start=01/05/2013
 
|end=
 
|end=
 
|status=Active
 
|status=Active
 
}}
 
}}
  
The aim if this project is to
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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.

Revision as of 06:57, 3 May 2013

EKF on Manifolds
Image of the project PIXYBOT
Short Description: Extended Kalman Filtering operating on Lie Groups
Coordinator: MatteoMatteucci (matteo.matteucci@polimi.it)
Tutor: DavideCucci (cucci@elet.polimi.it)
Collaborator: None ()
Students: SimoneStefanini (simone.stefanini@mail.polimi.it)
Research Area: Robotics
Research Topic: None
Start: 01/05/2013
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.