arntanguy / kalman_lie

Kalman Filter for Pose estimation using Lie Algebra

KalmanLie

Overview

This repository contains an implementation of Lie-algebra kalman filters.

So far, we have to following implementations:

• 6D Pose estimation with constant velocity model

Dependencies

This package relies heavily on:

• kalman A c++11 kalman filtering framework
• Sophus for Lie algebra support.

6D Pose estimation filter with constant velocity model

For this model, the state is composed of the 6D pose and velocity in the lie algebra se(3).

The system model is as follow