Title | Second-Order Recursive Filtering on the Rigid-Motion Lie Group SE(3) Based on Nonlinear Observations |
Publication Type | Miscellaneous |
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 |
Abstract | 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. |
URL | http://arxiv.org/abs/1507.06810 |
Preprint | arXiv preprint |
Citation Key | Berger-et-al-2015b |