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Yeah implementing the "+" operator on the tangent space is pretty common not just for Kalman filters but also nonlinear optimization in general. The Ceres libra
by porphyra 2y ago
Yeah implementing the "+" operator on the tangent space is pretty common not just for Kalman filters but also nonlinear optimization in general. The Ceres library supports LocalParameterization which does that.
- deutschepost 2y agoYeah LocalParametrization is exactly what they describe. The main contribution is a pretty slick mathematical model. When you use it everything just seems to work out. Also ceres is pretty great. LocalParametrization in combination with jets works like a treat for EKFs. You never have to worry about calculating jacobians on manifolds ever again.