Integrating generic sensor fusion algorithms with sound state representations through encapsulation of manifolds

@article{Hertzberg2013IntegratingGS,
  title={Integrating generic sensor fusion algorithms with sound state representations through encapsulation of manifolds},
  author={C. Hertzberg and R. Wagner and U. Frese and L. Schr{\"o}der},
  journal={ArXiv},
  year={2013},
  volume={abs/1107.1119}
}
  • C. Hertzberg, R. Wagner, +1 author L. Schröder
  • Published 2013
  • Computer Science, Mathematics
  • ArXiv
  • Common estimation algorithms, such as least squares estimation or the Kalman filter, operate on a state in a state space S that is represented as a real-valued vector. However, for many quantities, most notably orientations in 3D, S is not a vector space, but a so-called manifold, i.e. it behaves like a vector space locally but has a more complex global topological structure. For integrating these quantities, several ad hoc approaches have been proposed. Here, we present a principled solution… CONTINUE READING
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