1 research outputs found
Invariant smoothing on Lie Groups
In this paper we propose a (non-linear) smoothing algorithm for group-affine
observation systems, a recently introduced class of estimation problems on Lie
groups that bear a particular structure. As most non-linear smoothing methods,
the proposed algorithm is based on a maximum a posteriori estimator, determined
by optimization. But owing to the specific properties of the considered class
of problems, the involved linearizations are proved to have a form of
independence with respect to the current estimates, leveraged to avoid
(partially or sometimes totally) the need to relinearize. The method is
validated on a robot localization example, both in simulations and on real
experimental data.Comment: Accepted for publication at IROS 201