• Aucun résultat trouvé

Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration with Rotating Earth

N/A
N/A
Protected

Academic year: 2021

Partager "Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration with Rotating Earth"

Copied!
17
0
0

Texte intégral

Loading

Figure

Fig. 1. Comparison between uncertainty propagation models of an extended pose. An IMU moves from origin to the right at constant translational speed during 10 s and stops at the blue dot (15, 0, 0)
Fig. 2. Example of propagation of an extended pose with SE 2 (3) uncertainty representation
Fig. 3. Error in computing covariance using second- and fourth-order methods for propagating an extended pose, as compared to Monte-Carlo
Fig. 4. Comparison between the retraction and its inverse used in the preintegration on manifold [6] (left), and the ones based on SE 2 (3) exponential advocated in the present paper (center, detailed formulas are given in Appendix)
+6

Références

Documents relatifs

In this pa- per we leverage a nontrivial result, namely log-linearity of inertial navigation equations based on the recently introduced Lie group SE 2 (3), to transpose the

Most Lie algebras and groups that will constitute our object of study in this article appear to be closely related to the Newton-Cartan geometry. That is why - although we shall

In this communication the influence of the optical detection time on the clock’s short-term stability is investigated and a new analytical expression is developed to

Table 5.4 shows the periods of the circadian clock and the cell division cycle and the delay be- tween the starting time of the inhibition of Bmal1, when the peak of MPF overtakes

IMU integration tends to drift or diverge, whereas the proposed method may be used as an alternative to LiDAR based (IMLS) and stereo vision based (ORB-SLAM2) methods, using only

Because the prototype was designed to be flexible, it is more complex than it ultimately would be. For example, rather than having two variable speed motors,

Factor Graph, low-cost IMU, sensor calibration, real-time state estimation, SLAM, pedestrian navigation, IMU preintegration on

Comme la préparation de cet événement mobilisera une bonne partie des sociétés locales, le cartel des sociétés, en accord avec le conseil communal, a donc décidé de ne