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USTC-AIS-Lab / SI-LIO

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What is the SE_{4}(3) group? #3

Closed gtx818 closed 1 month ago

gtx818 commented 2 months ago

Interesting work! In your displaed supplementary video on Youtube, you introduce that you utilize the Lie exponential between the matrix Lie group SE$_4(3)$ and its Lie algebra for the linearization of the estimation error system and measurement residual, avoiding the introduction of the linearization errors in both estimate propagation and update process. What is the SE$_4(3)$ matrix Lie group?

xixishui1999 commented 2 months ago

In SE(3), which includes rotation and translation, considering the addition of other states such as velocity, bias, and gravity, forms a larger group of the form [R | t v b_a b_g].

chengwei0427 commented 1 month ago

Can you share the Youtube video link?

gtx818 commented 1 month ago

Can you share the Youtube video link?

It seems that the authors have removed the Youtube video.

xixishui1999 commented 1 month ago

You can get links to the latest videos at https://www.youtube.com/watch?v=8JLsXeB0NGE OR https://www.bilibili.com/video/BV1fE421A7vZ/?spm_id_from=333.337.search-card.all.click&vd_source=d805ae3d03ba93f2b7355dbb0826b7ed