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Extended Kalman Filtering on Manifolds
PrjCFUMax 20  +
PrjCFUMin 20  +
PrjDescription Extended Kalman filtering is a well known … 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. '''''Material:''''' *papers about Manifold based optimization and space representations *C++ framework for EKF-SLAM '''''Expected outcome:''''' *An extended Kalman filter which uses this new representation '''''Required skills or skills to be acquired:''''' *Good mathematical background *C++ programming under Linux al background *C++ programming under Linux
PrjImage Image:SE3_Manifold.jpg  +
PrjLevel Master of Science +
PrjResArea Robotics +
PrjResTopic None +
PrjStarts 1 April 2012  +
PrjStatus Closed  +
PrjStudMax 2  +
PrjStudMin 1  +
PrjTitle Extended Kalman Filtering on Manifolds  +
PrjTutor User:MatteoMatteucci + , User:SimoneCeriani + , User:DavideCucci +
PrjType Thesis +
Categories ProjectProposal  +
Modification¬†dateThis property is a special property in this wiki. 21 December 2014 23:36:44  +
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