Browsing by Author "University of Zürich. Robotics and Perception Group"
Gallego, Guillermo; Yezzi, Anthony (Georgia Institute of TechnologySpringer, 2014-08)We present a compact formula for the derivative of a 3-D rotation matrix with respect to its exponential coordinates. A geometric interpretation of the resulting expression is provided, as well as its agreement with ...
Forster, Christian; Carlone, Luca; Dellaert, Frank; Scaramuzza, Davide (Georgia Institute of Technology, 2015)Recent results in monocular visual-inertial navigation (VIN) have shown that optimization-based approaches outperform filtering methods in terms of accuracy due to their capability to relinearize past states. However, the ...
Supplementary Material to: IMU Preintegration on Manifold for Efficient Visual-Inertial Maximum-a-Posteriori Estimation Forster, Christian; Carlone, Luca; Dellaert, Frank; Scaramuzza, Davide (Georgia Institute of Technology, 2015-05-30)