In this repo

Implementation of batch inference on robotic states using states that live in Lie groups.

For now, the implementations are on SE(2) group with GPS correction. The algorithms are implemented on

• Matlab (full implementation), and
• C++ using g2o with custom types that use Lie group objects implemented using Manif.

Problem setup

• Robot moving on a plane.
• Robot can be described using SE(2) elements.
• Robot is measuring
  • angular velocity (interoceptive measurement),
  • linear velocity (interoceptive measurement), and
  • GPS measurement (exteroceptive measurement). The GPS measurement is coming at different frequency that the simulation frequency.

Initialization

The batch optimization are initialized with either

• odometry (i.e., dead-reckoning), or
• left-invariant extended Kalman filter (L-InEKF).

A document is included that explains the batch setup.

Other repos

• RandomVariable
• cpp_filter (includes the L-InEKF implementation)
• Manif
• g2o
• Eigen