ECE Seminar - Closed-Form Error Propagation on SEn(3) Group
Abstract: Pose estimation is important for robotic perception, path planning, etc. Robot poses can be modeled on matrix Lie groups and are usually estimated via filter-based methods. In this letter, we establish the closed-form formula for the error propagation for the Invariant extended Kalman filter (IEKF) in the presence of random noises and apply it to vision-aided inertial navigation. Moreover, we use the theoretic results to add the compensation parts for IEKF. We evaluate our algorithms via numerical simulations and experiments on the OPENVINS platform. Both simulations and the experiments performed on the public EuRoC MAV datasets demonstrate that our algorithm in particular parameters settings outperforms some state-of-art filter-based methods such as the quaternion-based EKF, first estimates Jacobian EKF, etc. The techniques of choice on the parameters are worth further investigating
Dr. Junfeng Wu received the B.Eng. degree from the Department of Automatic Control, Zhejiang University, Hangzhou, China, and the Ph.D. degree in electrical and computer engineering from Hong Kong University of Science and Technology, Hong Kong, in 2009, and 2013, respectively. From September to December 2013, he was a Research Associate in the Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology. From January 2014 to June 2017, he was a Postdoctoral Researcher in the ACCESS (Autonomic Complex Communication nEtworks, Signals and Systems) Linnaeus Center, School of Electrical Engineering, KTH Royal Institute of Technology, Stockholm, Sweden. From 2017 to 2021, he was with the College of Control Science and Engineering, Zhejiang University, Hangzhou, China. He is currently an Associate Professor at the School of Data Science, the Chinese University of Hong Kong, Shenzhen. His research interests include networked control systems, state estimation, and wireless sensor networks, multi-agent systems. Dr. Wu received the Guan Zhao-Zhi Best Paper Award at the 34th Chinese Control Conference in 2015. He is a senior member of IEEE. He has been serving as an associate editor for IEEE Transactions on Control of Network Systems from 2023.