STATE ESTIMATION FOR ROBOTICS
6.3.2 Robotics Conventions 194 6.3.3 Frenet-Serret Frame 196 6.4 Sensor Models 199 6.4.1 Perspective Camera 199 6.4.2 Stereo Camera 206 6.4.3 Range-Azimuth-Elevation 208 6.4.4 Inertial Measurement Unit 209 6.5 Summary 211 6.6 Exercises 212. viii Contents 7 Matrix Lie Groups 215 7.1 Geometry 215
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