4 papers
Consistent and Optimal Solution to Camera Motion Estimation
Guangyang Zeng, Qingcheng Zeng, Xinghan Li +4
Given 2D point correspondences between an image pair, inferring the camera motion is a fundamental issue in the computer vision community. The existing works generally set out from…
Efficient Invariant Kalman Filter for Inertial-based Odometry with Large-sample Environmental Measurements
Xinghan Li, Haoying Li, Guangyang Zeng +4
A filter for inertial-based odometry is a recursive method used to estimate the pose from measurements of ego-motion and relative pose. Currently, there is no known filter that gua…
Errors Dynamics in Affine Group Systems
Xinghan Li, Jianqi Chen, Han Zhang +2
Errors dynamics captures the evolution of the state errors between two distinct trajectories, that are governed by the same system rule but initiated or perturbed differently. In p…
Closed-form Error Propagation on the SE_n(3) Group for Invariant Extended Kalman Filtering with Applications to VINS
Xinghan Li, Haodong Jiang, Xingyu Chen +2
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…