中文版 | English
Title

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

Author
Publication Years
2022-10
DOI
Source Title
ISSN
2377-3774
Volume7Issue: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
SCI ; EI
Language
English
SUSTech Authorship
Others
Funding Project
Shenzhen Science and Technology Program[ZDSYS20211021111415025]
WOS Research Area
Robotics
WOS Subject
Robotics
WOS Accession No
WOS:000838665800021
Publisher
EI Accession Number
20223312566524
EI Keywords
Air navigation ; Inertial navigation systems ; Jacobian matrices ; Lie groups ; Motion planning ; Parameter estimation ; Robot programming ; Uncertainty analysis
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
Data Source
Web of Science
PDF urlhttps://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9844243
Citation statistics
Cited Times [WOS]:0
Document TypeJournal Article
Identifierhttp://kc.sustech.edu.cn/handle/2SGJ60CL/375594
DepartmentDepartment 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.
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.
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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