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A Second Order Minimum-Energy Filter on the Special Orthogonal Group

Zamani, Mohammad; Trumpf, Jochen; Mahony, Robert


This work documents a case study in the application of Mortensen's nonlinear filtering approach to invariant systems on general Lie groups. In this paper, we consider the special orthogonal group SO(3) of all rotation matrices. We identify the exact form

CollectionsANU Research Publications
Date published: 2012
Type: Conference paper
Source: Proceedings of the American Control Conference 2012


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