The Invariant Rauch-Tung-Striebel Smoother
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arXiv
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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866914697591128064 |
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| author | van der Laan, Niels Cohen, Mitchell Arsenault, Jonathan Forbes, James Richard |
| author_facet | van der Laan, Niels Cohen, Mitchell Arsenault, Jonathan Forbes, James Richard |
| contents | This paper presents an invariant Rauch-Tung- Striebel (IRTS) smoother applicable to systems with states that are an element of a matrix Lie group. In particular, the extended Rauch-Tung-Striebel (RTS) smoother is adapted to work within a matrix Lie group framework. The main advantage of the invariant RTS (IRTS) smoother is that the linearization of the process and measurement models is independent of the state estimate resulting in state-estimate-independent Jacobians when certain technical requirements are met. A sample problem is considered that involves estimation of the three dimensional pose of a rigid body on SE(3), along with sensor biases. The multiplicative RTS (MRTS) smoother is also reviewed and is used as a direct comparison to the proposed IRTS smoother using experimental data. Both smoothing methods are also compared to invariant and multiplicative versions of the Gauss-Newton approach to solving the batch state estimation problem. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_00075 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | The Invariant Rauch-Tung-Striebel Smoother van der Laan, Niels Cohen, Mitchell Arsenault, Jonathan Forbes, James Richard Robotics This paper presents an invariant Rauch-Tung- Striebel (IRTS) smoother applicable to systems with states that are an element of a matrix Lie group. In particular, the extended Rauch-Tung-Striebel (RTS) smoother is adapted to work within a matrix Lie group framework. The main advantage of the invariant RTS (IRTS) smoother is that the linearization of the process and measurement models is independent of the state estimate resulting in state-estimate-independent Jacobians when certain technical requirements are met. A sample problem is considered that involves estimation of the three dimensional pose of a rigid body on SE(3), along with sensor biases. The multiplicative RTS (MRTS) smoother is also reviewed and is used as a direct comparison to the proposed IRTS smoother using experimental data. Both smoothing methods are also compared to invariant and multiplicative versions of the Gauss-Newton approach to solving the batch state estimation problem. |
| title | The Invariant Rauch-Tung-Striebel Smoother |
| topic | Robotics |
| url | https://arxiv.org/abs/2403.00075 |