https://airwiki.deib.polimi.it/index.php?action=history&feed=atom&title=EKF_on_Manifolds 2026-05-17T15:10:41Z Revision history for this page on the wiki MediaWiki 1.25.6 https://airwiki.deib.polimi.it/index.php?title=EKF_on_Manifolds&diff=16265&oldid=prev 2013-05-03T06:06:10Z

<p></p> <table class='diff diff-contentalign-left'> <col class='diff-marker' /> <col class='diff-content' /> <col class='diff-marker' /> <col class='diff-content' /> <tr style='vertical-align: top;'> <td colspan='2' style="background-color: white; color:black; text-align: center;">← Older revision</td> <td colspan='2' style="background-color: white; color:black; text-align: center;">Revision as of 06:06, 3 May 2013</td> </tr><tr><td colspan="2" class="diff-lineno" id="L4" >Line 4:</td> <td colspan="2" class="diff-lineno">Line 4:</td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>|short_descr=Extended Kalman Filtering operating on Lie Groups</div></td><td class='diff-marker'>&#160;</td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>|short_descr=Extended Kalman Filtering operating on Lie Groups</div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>|coordinator=MatteoMatteucci</div></td><td class='diff-marker'>&#160;</td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>|coordinator=MatteoMatteucci</div></td></tr> <tr><td class='diff-marker'>−</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>|tutor=<del class="diffchange diffchange-inline">Davide Cucci</del></div></td><td class='diff-marker'>+</td><td style="color:black; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>|tutor=<ins class="diffchange diffchange-inline">DavideCucci</ins></div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>|collaborator=None</div></td><td class='diff-marker'>&#160;</td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>|collaborator=None</div></td></tr> <tr><td class='diff-marker'>&#160;</td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>|students=SimoneStefanini</div></td><td class='diff-marker'>&#160;</td><td style="background-color: #f9f9f9; color: #333333; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #e6e6e6; vertical-align: top; white-space: pre-wrap;"><div>|students=SimoneStefanini</div></td></tr> </table>

SimoneStefanini https://airwiki.deib.polimi.it/index.php?title=EKF_on_Manifolds&diff=16263&oldid=prev 2013-05-03T06:05:23Z

<p>Created page with &quot;{{Project |title=EKF on Manifolds |image=SE3_Manifold.jpg |short_descr=Extended Kalman Filtering operating on Lie Groups |coordinator=MatteoMatteucci |tutor=Davide Cucci |coll...&quot;</p> <p><b>New page</b></p><div>{{Project<br /> |title=EKF on Manifolds<br /> |image=SE3_Manifold.jpg<br /> |short_descr=Extended Kalman Filtering operating on Lie Groups<br /> |coordinator=MatteoMatteucci<br /> |tutor=Davide Cucci<br /> |collaborator=None<br /> |students=SimoneStefanini<br /> |resarea=Robotics<br /> |restopic=Robot development<br /> |start=01/05/2013<br /> |end=<br /> |status=Active<br /> }}<br /> <br /> Extended Kalman filtering is a well known technique for the estimation of the state of a dynamical system also used in robotics for localization and mapping. However in the basic formulation it assumes all variables to live in an Euclidean space while some components may span over the non-Euclidean 2D or 3D rotation group SO(2) or SO(3). The aim of this project is to write an Extended Kalman filter to operate on Lie Groups to take into account the presence of manifolds.</div>

SimoneStefanini