Lie Group Modelling for an EKF-Based Monocular SLAM Algorithm
This paper addresses the problem of monocular Simultaneous Localization And Mapping on Lie groups using fiducial patterns. For that purpose, we propose a reformulation of the classical camera model as a model on matrix Lie groups. Thus, we define an original-state vector containing the camera pose a...
Main Authors: | , , |
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Format: | Article |
Language: | English |
Published: |
MDPI AG
2022-01-01
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Series: | Remote Sensing |
Subjects: | |
Online Access: | https://www.mdpi.com/2072-4292/14/3/571 |