[A micro Lie theory for state estimation in robotics] (https://arxiv.org/pdf/1812.01537.pdf)

视觉SLAM论文list添加链接描述

Abstract 摘要

A Lie group is an old mathematical abstract objectdating back to the XIX century,
李群是一个古老的数学抽象，可以追溯到十九世纪，

when mathematician Sophus Lie laid the foundations of the theory of continuous transformation groups.
当时数学家 Sophus Lie 奠定了连续变换群理论的基础。

Its influence has spread over diverse areas of science and technology many years later.
许多年后，它的影响力已经蔓延到科学和技术的各个领域。

In robotics, we are recently experiencing an important trend in its usage, at least in the fields of
estimation, and particularly in motion estimation for navigation.

在机器人技术中，我们最近正在经历一个重要的使用趋势，至少在以下领域
估计，特别是在导航的运动估计中。

Yet for a vast majority of roboticians, Lie groups are highly
abstract constructions and therefore difficult to understand and
to use.
然而对于绝大多数机器人专家来说，李群是高度抽象的结构，因此难以理解和使用。

In estimation for robotics it is often not necessary to exploit
the full capacity of the theory, and therefore an effort of selection
of materials is required.
在机器人技术使用估计时，通常不需要利用全部理论的能力，因此需要选择材料的能力。

In this paper, we will walk through the
most basic principles of the Lie theory, with the aim of conveying
clear and useful ideas, and leave a significant corpus of the Lie
theory behind.
在本文中，我们将介绍Lie 理论的最基本原理，旨在传达清晰而有用的想法，
并留下一个重要的Lie语料库(corpus)背后的理论。

Even with this mutilation, the material included
here has proven to be extremely useful in modern estimation
algorithms for robotics, especially in the fields of SLAM, visual
odometry, and the like.
即使有这种残缺，包括材料里的(算法)被证明是非常有用的现代机器人学的算法，特别是在SLAM、视觉里程计之类的。

Alongside this micro Lie theory, we provide a chapter with a few application examples, and a vast reference of formulas for the major Lie groups used in robotics, including most
Jacobian matrices and the way to easily manipulate them. We
also present a new C++ template-only library implementing all
the functionality described here.
除了这个micro Lie 理论，我们还提供了一章一些应用实例和大量公式参考用于机器人的主要Lie群，
包括雅可比矩阵及其易于操作的方法。
我们还提供了一个新的C++模板库，实现了所有的这里描述的功能。

A micro Lie theory for state estimation in robotics001相关推荐

[paper] A micro Lie theory for state estimation in robotics
[paper] A micro Lie theory for state estimation in robotics ① 简介 A Micro Lie Theory 李群(Lie group) Th ...
A micro Lie theory for state estimation in robotics003:The Lie group:例 1 和例 2
II. A MICRO LIE THEORY A. The Lie group The Lie group encompasses the concepts of group and smooth m ...
A micro Lie theory for state estimation in robotics002
Introduction 引言 There has been a remarkable effort in the last years in the robotics community to fo ...
A micro Lie theory for state estimation in robotics
面向机器人方向的李群教程,不涉及李括号,确实到目前为止也没见过李括号的应用. 李群的概念李群指的是光滑可微的群,可以认为综合了群和光滑流形的概念.光滑,可微的流形,指的是领域和欧式空间同构的 ...
Where Can Machine Learning Help Robotic State Estimation 机器学习在机器人状态估计的应用
Where Can Machine Learning Help Robotic State Estimation Tim Barfoot 关于机器学习在机器人状态估计中应用的报告演讲.演讲时间2021 ...
2 State Estimation and Localization for Self-Driving Cars
2 State Estimation and Localization for Self-Driving Cars WEEK 1 Lesson 1: Practice Quiz Lesson 2: P ...
机器人学中的状态估计中文版_机器人学中的状态估计/State Estimation for Robotics—第三章习题答案...
机器人学中的状态估计/State Estimation for Robotic 第三章习题答案英文最新版已于2020年4月11日勘误此第二题,维度改为六维矩阵,即图片上的形式.
R3LIVE：A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation 运行记录
港大火星实验室在2022年元旦开源了R3live,个人效果非常不错.年前找个时间运行了一下,嗯,确实可以.好,言归正传,记录一下运行的过程. 下面就是github上面开源的链接地址了. GitHub ...
【学习总结】VIO初始化学习1：Monocular Visual–Inertial State Estimation With Online Initialization and Camera–IMU
最近看了一篇论文,很是头大,大概看懂了个所以然.记录一下. 论文:Monocular Visual–Inertial State Estimation With Online Initializati ...

A micro Lie theory for state estimation in robotics001

Abstract 摘要

A micro Lie theory for state estimation in robotics001相关推荐

最新文章

热门文章