Transcription of STATE ESTIMATION FOR ROBOTICS - University of Toronto
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STATE ESTIMATION FOR ROBOTICS - University of Toronto
STATE ESTIMATION FOR. ROBOTICS . Timothy D. Barfoot c 2019. Copyright Cambridge University Press is the Official Publisher This Unofficial Version Compiled on October 1, 2019. Send errata to Revision History 13 May 2017 Version best matching published first edition 12 Aug 2017 Equation ( ): x changed to xx 12 Aug 2017 Page 111, bullet 4: y changed to yy 12 Aug 2017 Page 117, bullet (ii): changed 4(a) to 3. 12 Aug 2017 Equation ( ): P changed to P k 12 Aug 2017 Equation ( ): P k changed to P k 12 Aug 2017 Equation ( ): xop,k,0 changed to xop,k,i 12 Aug 2017 Equation ( ): removed negative sign 22 Nov 2017 Fixed typo in Jacobi identity (page 218). 10 Dec 2017 Equation ( ): 1yy yx changed to xy yy 1. vk i 10 Dec 2017 Inline above ( ): rvi i changed to ri T.
viii Contents 7 Matrix Lie Groups 215 7.1 Geometry 215 7.1.1 Special Orthogonal and Special Euclidean Groups 215 7.1.2 Lie Algebras 217 7.1.3 Exponential Map 219 7.1.4 Adjoints 226 7.1.5 Baker-Campbell-Hausdor 230 7.1.6 Distance, Volume, Integration 237 7.1.7 Interpolation 240 7.1.8 Homogeneous Points 246 7.1.9 Calculus and Optimization 246 7.1.10 Identities 254 7.2 Kinematics 255
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