Event
SGal(3) Provides a Unified Representation of Spatiotemporal Uncertainty
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Jonathan Kelly published a paper introducing the special Galilean group SGal(3) and its Lie algebra, and states that this group structure supports a unified representation of spatial and temporal uncertainty. SGal(3) is a 10-dimensional Lie group, and its important subgroups include the special orthogonal group, the special Euclidean group, and the extended pose group. The paper is a 3-page, 1-figure workshop paper published on October 15, 2024, at the IEEE/RSJ IROS workshop "From Geometry to General Autonomy of Robotic Systems" held in Abu Dhabi. The paper also notes that the group has potential uses for several robotics problems, but does not provide validated application results.
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- The Special Galilean Group SGal(3) and Its Applications to Several Robotics Problems
The special Galilean group SGal(3) is a 10-dimensional Lie group whose important subgroups include the special orthogonal group, the special Euclidean group, and the group of extended poses. This work briefly describes SGal(3) and its Lie algebra, explains how the group structure supports a unified representation of uncertainty in space and time, and points out the group's potential uses for several robotics problems.
arXiv cs.RO ·