EKF on Manifolds

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EKF on Manifolds
Image of the project EKF on Manifolds
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: Robot development
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.