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...

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Bibliographic Details
Main Authors: Samy Labsir, Gaël Pages, Damien Vivet
Format: Article
Language:English
Published: MDPI AG 2022-01-01
Series:Remote Sensing
Subjects:
Online Access:https://www.mdpi.com/2072-4292/14/3/571