Closed-Form Error Propagation on $SE_{n}(3)$ Group for Invariant EKF With Applications to VINS

Xinghan Li1; Haodong Jiang2; Xingyu Chen2; He Kong3; Junfeng Wu2

2022-10

10.1109/LRA.2022.3194684

IEEE Robotics and Automation Letters   Impact Factor & Quartile

2377-3774

Pose estimation is important for robotic perception, path planning, etc. Robot poses can be modeled on matrix Lie groups and are usually estimated via filter-based methods. In this letter, we establish the closed-form formula for the error propagation for the Invariant extended Kalman filter (IEKF) in the presence of random noises and apply it to vision-aided inertial navigation. Moreover, we use the theoretic results to add the compensation parts for IEKF. We evaluate our algorithms via numerical simulations and experiments on the OPENVINS platform. Both simulations and the experiments performed on the public EuRoC MAV datasets demonstrate that our algorithm in particular parameters settings outperforms some state-of-art filter-based methods such as the quaternion-based EKF, first estimates Jacobian EKF, etc. The techniques of choice on the parameters are worth further investigating.

Invariant extended Kalman filter localization visual-inertial SLAM

SCI ; EI

English

Others

Shenzhen Science and Technology Program[ZDSYS20211021111415025]

Robotics

Robotics

WOS:000838665800021

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

20223312566524

Air navigation ; Inertial navigation systems ; Jacobian matrices ; Lie groups ; Motion planning ; Parameter estimation ; Robot programming ; Uncertainty analysis

Air Navigation and Traffic Control:431.5 ; Computer Programming:723.1 ; Robotics:731.5 ; Algebra:921.1 ; Combinatorial Mathematics, Includes Graph Theory, Set Theory:921.4 ; Probability Theory:922.1

Web of Science

1.College of Control Science and Engineering, and the State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, China
2.School of Data Science, The Chinese University of Hong Kong, Shenzhen, China
3.Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China

Xinghan Li,Haodong Jiang,Xingyu Chen,et al. Closed-Form Error Propagation on $SE_{n}(3)$ Group for Invariant EKF With Applications to VINS[J]. IEEE Robotics and Automation Letters,2022,7(4):10705-10712.

Xinghan Li,Haodong Jiang,Xingyu Chen,He Kong,&Junfeng Wu.(2022).Closed-Form Error Propagation on $SE_{n}(3)$ Group for Invariant EKF With Applications to VINS.IEEE Robotics and Automation Letters,7(4),10705-10712.

Xinghan Li,et al."Closed-Form Error Propagation on $SE_{n}(3)$ Group for Invariant EKF With Applications to VINS".IEEE Robotics and Automation Letters 7.4(2022):10705-10712.