|Title||Second-Order Recursive Filtering on the Rigid-Motion Lie Group SE(3) Based on Nonlinear Observations|
|Year of Publication||2015|
|Authors||Berger, J, Lenzen, F, Becker, F, Neufeld, A, Schnörr, C|
|Keywords||Constant Acceleration Model, Lie Group, Minimum Energy Filter, Optimal Control, Recursive Filtering, Visual Odometry|
Camera motion estimation from observed scene features is an important task in image processing to increase the accuracy of many methods, e.g. optical flow and structure-from-motion. Due to the curved geometry of the state space SE(3) and the non-linear relation to the observed optical flow, many recent filtering approaches use a first-order approximation and assume a Gaussian a posteriori distribution or restrict the state to Euclidean geometry. The physical model is usually also limited to uniform motions.