About the RIKEF

[Iqun1314]

In APPENDIX A , 'As (15) are measurements expressed in the robot’s frame, they lend themselves to the Right IEKF methodology'. But I don't know why it use RIKEF? In other words, when to use LIEKF and when to use RIEKF. Thank you!

[mbrossar]

You can see both Invariant Kalman Filtering (https://www.annualreviews.org/doi/abs/10.1146/annurev-control-060117-105010), and The Invariant Extended Kalman Filter as a Stable Observer (https://ieeexplore.ieee.org/document/7523335).

RIEKF is adapted for measurements expressed in the robot’s frame, e.g. from camera or zero lateral velocity in body frame. LIEKF is well adapted for measurements expressed in the global frame, e.g. GPS.

[Iqun1314]

Thank you so much！

[Iqun1314]

Thank you so much！

------------------ Original ------------------ From: "Martin Brossard";notifications@github.com; Send time: Wednesday, Dec 11, 2019 0:05 AM To: "mbrossar/ai-imu-dr"ai-imu-dr@noreply.github.com; Cc: "安生"610181747@qq.com; "Author"author@noreply.github.com; Subject: Re: [mbrossar/ai-imu-dr] About the RIKEF (#38)

You can see both Invariant Kalman Filtering (https://www.annualreviews.org/doi/abs/10.1146/annurev-control-060117-105010), and The Invariant Extended Kalman Filter as a Stable Observer (https://ieeexplore.ieee.org/document/7523335).

RIEKF is adapted for measurements expressed in the robot’s frame, e.g. from camera or zero lateral velocity in body frame. LIEKF is well adapted for measurements expressed in the global frame, e.g. GPS.

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub, or unsubscribe.

[scott81321]

I would like to understand this more. Brossard's paper only mentions RIEKF. I gather that RIEKF is what is implemented in his code ai-imu-dr. Is there any way of mixing LIEKF and RIEKF?