Geometric Savitzky-Golay Filtering of Noisy Rotations on SO(3) with Simultaneous Angular Velocity and Acceleration Estimation
Maarten Jongeneel,Alessandro Saccon,Maarten Jongeneel,Alessandro Saccon
This paper focuses on the problem of smoothing a rotation trajectory corrupted by noise, while simultaneously estimating its corresponding angular velocity and angular acceleration. To this end, we develop a geometric version of the Savitzky-Golay filter on SO(3) that avoids following the conventional practice of first converting the rotation trajectory into Euler-like angles, performing the filte...
