A Group Theoretic Metric for Robot State Estimation Leveraging Chebyshev Interpolation
Varun Agrawal,Frank Dellaert,Varun Agrawal,Frank Dellaert
We propose a new metric for robot state estimation based on the recently introduced SE2(3) Lie group definition. Our metric is related to prior metrics for SLAM but explicitly takes into account the linear velocity of the state estimate, improving over current pose-based trajectory analysis. This has the benefit of providing a single, quantitative metric to evaluate state estimation algorithms aga...
