Second Order Minimum Energy Filtering on $${\text {SE}}_{3}$$ with Nonlinear Measurement Equations

DOI10.1007/978-3-319-18461-6_32zbMath1444.68258arXiv1502.07903OpenAlexW1447137170MaRDI QIDQ3300323

Florian Becker, Johannes Berger, Christoph Schnörr, Frank Lenzen, Andreas Neufeld

Publication date: 28 July 2020

Published in: Lecture Notes in Computer Science (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/1502.07903

zbMATH Keywords

optimal controlLie groupsvisual odometryminimum energy filter

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Numerical methods based on necessary conditions (49M05) Discrete approximations in optimal control (49M25) Optimality conditions for problems involving ordinary differential equations (49K15) Machine vision and scene understanding (68T45)

Related Items (1)

Second-order recursive filtering on the rigid-motion Lie group \(\mathrm{SE}_3\) based on nonlinear observations

Cites Work

• Fundamentals of stochastic filtering
• Approximate nonlinear filtering by projection on exponential manifolds of densities
• Variational recursive joint estimation of dense scene structure and camera motion from monocular high speed traffic sequences
• Maximum-likelihood recursive nonlinear filtering
• Second-Order-Optimal Minimum-Energy Filters on Lie Groups
• Geometric Numerical Integration
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