Title | Closed-Form Error Propagation on $SE_{n}(3)$ Group for Invariant EKF With Applications to VINS |
Author | |
Publication Years | 2022-10
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DOI | |
Source Title | |
ISSN | 2377-3774
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Volume | 7Issue:4Pages:10705-10712 |
Abstract | 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. |
Keywords | |
URL | [Source Record] |
Indexed By | |
Language | English
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SUSTech Authorship | Others
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Funding Project | Shenzhen Science and Technology Program[ZDSYS20211021111415025]
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WOS Research Area | Robotics
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WOS Subject | Robotics
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WOS Accession No | WOS:000838665800021
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Publisher | |
EI Accession Number | 20223312566524
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EI Keywords | Air navigation
; Inertial navigation systems
; Jacobian matrices
; Lie groups
; Motion planning
; Parameter estimation
; Robot programming
; Uncertainty analysis
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ESI Classification Code | 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
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Data Source | Web of Science
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PDF url | https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9844243 |
Citation statistics |
Cited Times [WOS]:0
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Document Type | Journal Article |
Identifier | http://kc.sustech.edu.cn/handle/2SGJ60CL/375594 |
Department | Department of Mechanical and Energy Engineering |
Affiliation | 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 |
Recommended Citation GB/T 7714 |
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.
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APA |
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.
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MLA |
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.
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