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cs.RO2022
Efficient Planar Pose Estimation via UWB Measurements
Haodong Jiang, Wentao Wang, Yuan Shen +4
State estimation is an essential part of autonomous systems. Integrating the Ultra-Wideband(UWB) technique has been shown to correct the long-term estimation drift and bypass the c…
cs.RO2022
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…