This repository contains an implementation of Lie-algebra kalman filters.
So far, we have to following implementations:
- 6D Pose estimation with constant velocity model
This package relies heavily on:
- kalman A c++11 kalman filtering framework
- Sophus for Lie algebra support.
For this model, the state is composed of the 6D pose and velocity in the lie algebra se(3).
The system model is as follow