Error-state Kalman filter is an elegant and effective filtering technique for robotic systemsoperating on manifolds.
<meaning-changed> Error-state Kalman filter is an elegant and effective filtering technique for robotic systemsoperating on manifolds.
Error-state Kalman filter is presumably one of the most important and extensively used filtering techniques in modern control systems. Yet, nearly all current variants of Kalman filters are formulated in the Euclidean space \mathbb{R on manifolds.