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Robust Visual Localization of a UAV Over a Pipe-Rack Based on the Lie Group SE(3).
Vincenzo Lippiello
Jonathan Cacace
Published in:
IEEE Robotics Autom. Lett. (2022)
Keyphrases
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lie group
lie algebra
visual features
geometric structure
visual information
computer vision
feature extraction
covariance matrices
riemannian manifolds