Deterministic attitude and pose filtering, an embedded Lie groups approach
Attitude estimation is a core problem in many robotic systems that perform automated or semi automated navigation. The configuration space of the attitude motion is naturally modelled on the Lie group of special orthogonal matrices SO(3). Many current attitude estimation methods are based on non-matrix parameterization of attitude. Non-matrix parameterization schemes sometimes lead to modelling issues such as the singularities in the parameterization space, non-uniqueness of the attitude...[Show more]
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