navlie: A Python Package for State Estimation on Lie Groups
Charles Champagne Cossette,Mitchell Cohen,Vassili Korotkine,Arturo Del Castillo Bernal,Mohammed Ayman Shalaby,James Richard Forbes,Charles Champagne Cossette,Mitchell Cohen,Vassili Korotkine,Arturo Del Castillo Bernal,Mohammed Ayman Shalaby,James Richard Forbes
The ability to rapidly test a variety of algorithms for an arbitrary state estimation task is valuable in the prototyping phase of navigation systems. Lie group theory is now mainstream in the robotics community, and hence estimation prototyping tools should allow state definitions that belong to manifolds. A new package, called navlie, provides a framework that allows a user to model a large clas...
