A Lie group variational integrator for rigid body motion in SE(3) with applications to underwater vehicle dynamics.
Nikolaj NordkvistAmit K. SanyalPublished in: CDC (2010)
Keyphrases
- rigid body motion
- underwater vehicles
- lie group
- optical flow
- vector field
- lie algebra
- rigid body
- motion parameters
- infinite dimensional
- linear transformation
- rigid motion
- computer simulation
- covariance matrices
- motion estimation
- geometric structure
- vector space
- image sequences
- parameter space
- mathematical models
- motion field
- euclidean space
- flow field
- riemannian manifolds
- mean shift
- image segmentation
- computer vision
- motion model
- range images
- maximum likelihood
- least squares
- feature vectors
- three dimensional