Browsing Engineering (Faculty of) by Author "Koppel, Leonid"
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On the Manifold: Representing Geometry in C++ for State Estimation
Koppel, Leonid (University of Waterloo, 2018-12-19)Manipulating geometric objects is central to state estimation problems in robotics. Typical algorithms must optimize over non-Euclidean states, such as rigid transformations on the SE(3) manifold, and handle measurements ...