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={Christoph Hertzberg and Ren{\'e} Wagner and Udo Frese and Lutz Schr{\"o}der},
  journal={Inf. Fusion},
  year={2013},
  volume={14},
  pages={57-77}
}
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… 
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