Estimation on Lie Groups
Simulation and analysis of different novel approaches for problems of pose and other estimation problems.
Guide: Prof. Ravi N. Banavar, IIT Bombay.
- Learned about the use of equivariant filters for highly nonlinear problems like Visual SLAM
- Simulated and analysed Kalman filters and a gradient-based rotational estimator for a satellite
For the star-tracking estimator, the variation of estimates and true values is plot.