Unscented Kalman Filtering on Lie Groups

Martin Brossard (1) , Silvère Bonnabel (1)

1 Mines Paris - PSL (École nationale supérieure des mines de Paris)

In this paper, we first consider a simple Bayesian fusion problem in a matrix Lie group, and propose to tackle it using the unscented transform. The method is then leveraged to derive two simple alternative unscented Kalman filters on Lie groups, for both cases of noisy partial measurements of the state, and full state noisy measurements of the state on the group. The general method is applied to a robot localization problem, and results based on experimental data combined with extensive Monte-Carlo simulations at various noise levels show the systematic superiority of the approach over the standard UKF.

Mots clés: Lie groups; unscented Kalman filter; robot localization

Domaines: Automatique / Robotique

Martin Brossard, Silvère Bonnabel. Unscented Kalman Filtering on Lie Groups. 2017. ⟨hal-01489204v1⟩