Implementation of batch inference on robotic states using states that live in Lie groups.

For now, the implementations are on SE(2) group with GPS correction. The algorithms are implemented on

• Matlab (full implementation), and
• C++ using g2o with custom types that use Lie group objects implemented using Manif.

• Robot moving on a plane.
• Robot can be described using SE(2) elements.
• Robot is measuring
  • angular velocity (interoceptive measurement),
  • linear velocity (interoceptive measurement), and
  • GPS measurement (exteroceptive measurement). The GPS measurement is coming at different frequency that the simulation frequency.

The batch optimization are initialized with either

• odometry (i.e., dead-reckoning), or
• left-invariant extended Kalman filter (L-InEKF).

A document is included that explains the batch setup.

• RandomVariable
• cpp_filter (includes the L-InEKF implementation)
• Manif
• g2o
• Eigen