{"id":"https://openalex.org/W3208920472","doi":"https://doi.org/10.1109/tac.2021.3121247","title":"Lie Algebraic Unscented Kalman Filter for Pose Estimation","display_name":"Lie Algebraic Unscented Kalman Filter for Pose Estimation","publication_year":2021,"publication_date":"2021-10-26","ids":{"openalex":"https://openalex.org/W3208920472","doi":"https://doi.org/10.1109/tac.2021.3121247","mag":"3208920472"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2021.3121247","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2021.3121247","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056033945","display_name":"Alexander Meyer Sj\u00f8berg","orcid":"https://orcid.org/0000-0001-5262-9810"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":true,"raw_author_name":"Alexander Meyer Sjoberg","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Norwegian University of Science and Technology, Trondheim, Norway"],"raw_orcid":"https://orcid.org/0000-0001-5262-9810","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021192390","display_name":"Olav Egeland","orcid":"https://orcid.org/0000-0001-5472-9743"},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Olav Egeland","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Norwegian University of Science and Technology, Trondheim, Norway"],"raw_orcid":"https://orcid.org/0000-0001-5472-9743","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5056033945"],"corresponding_institution_ids":["https://openalex.org/I204778367"],"apc_list":null,"apc_paid":null,"fwci":16.4227,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.98471664,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"67","issue":"8","first_page":"4300","last_page":"4307"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13885","display_name":"Geophysics and Sensor Technology","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lie-group","display_name":"Lie group","score":0.6074591875076294},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5621384382247925},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.5149065256118774},{"id":"https://openalex.org/keywords/algebra-over-a-field","display_name":"Algebra over a field","score":0.50737065076828},{"id":"https://openalex.org/keywords/lie-algebra","display_name":"Lie algebra","score":0.4896407723426819},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.48878809809684753},{"id":"https://openalex.org/keywords/logarithm","display_name":"Logarithm","score":0.4875585436820984},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4791828393936157},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.33559197187423706},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.33228734135627747},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.3212699294090271},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.16526830196380615}],"concepts":[{"id":"https://openalex.org/C187915474","wikidata":"https://www.wikidata.org/wiki/Q622679","display_name":"Lie group","level":2,"score":0.6074591875076294},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5621384382247925},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.5149065256118774},{"id":"https://openalex.org/C136119220","wikidata":"https://www.wikidata.org/wiki/Q1000660","display_name":"Algebra over a field","level":2,"score":0.50737065076828},{"id":"https://openalex.org/C51568863","wikidata":"https://www.wikidata.org/wiki/Q664495","display_name":"Lie algebra","level":2,"score":0.4896407723426819},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.48878809809684753},{"id":"https://openalex.org/C39927690","wikidata":"https://www.wikidata.org/wiki/Q11197","display_name":"Logarithm","level":2,"score":0.4875585436820984},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4791828393936157},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.33559197187423706},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.33228734135627747},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.3212699294090271},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.16526830196380615},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2021.3121247","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2021.3121247","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1016917994","display_name":null,"funder_award_id":"237896","funder_id":"https://openalex.org/F4320323299","funder_display_name":"Norges Forskningsr\u00e5d"}],"funders":[{"id":"https://openalex.org/F4320323299","display_name":"Norges Forskningsr\u00e5d","ror":"https://ror.org/00epmv149"},{"id":"https://openalex.org/F4320333681","display_name":"SFI Offshore Mechatronics","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W1482680353","https://openalex.org/W1487267921","https://openalex.org/W1502308290","https://openalex.org/W1943808550","https://openalex.org/W1968917201","https://openalex.org/W1974891356","https://openalex.org/W1990809463","https://openalex.org/W1999333306","https://openalex.org/W2009131459","https://openalex.org/W2018655096","https://openalex.org/W2020934227","https://openalex.org/W2039050554","https://openalex.org/W2041339162","https://openalex.org/W2049127421","https://openalex.org/W2061356302","https://openalex.org/W2079605428","https://openalex.org/W2083570532","https://openalex.org/W2096681827","https://openalex.org/W2125691646","https://openalex.org/W2132240870","https://openalex.org/W2134858417","https://openalex.org/W2136517446","https://openalex.org/W2137427741","https://openalex.org/W2138518358","https://openalex.org/W2147285204","https://openalex.org/W2150028809","https://openalex.org/W2154101061","https://openalex.org/W2155653863","https://openalex.org/W2157357823","https://openalex.org/W2166957155","https://openalex.org/W2169772828","https://openalex.org/W2316001447","https://openalex.org/W2416676908","https://openalex.org/W2604425362","https://openalex.org/W2614952633","https://openalex.org/W2724247724","https://openalex.org/W2808072442","https://openalex.org/W2809899741","https://openalex.org/W2900470576","https://openalex.org/W2904935287","https://openalex.org/W2915178317","https://openalex.org/W2945595613","https://openalex.org/W2970421330","https://openalex.org/W3010039507","https://openalex.org/W3099007322","https://openalex.org/W3100397876","https://openalex.org/W3174889711","https://openalex.org/W4205510932","https://openalex.org/W4206397070","https://openalex.org/W6629917956","https://openalex.org/W6632571126"],"related_works":["https://openalex.org/W2007405763","https://openalex.org/W1486373823","https://openalex.org/W3136087161","https://openalex.org/W2053762185","https://openalex.org/W2119578520","https://openalex.org/W2018238589","https://openalex.org/W2963288691","https://openalex.org/W4298401637","https://openalex.org/W2940979654","https://openalex.org/W2105339944"],"abstract_inverted_index":{"An":[0],"unscented":[1],"Kalman":[2],"filter":[3],"(UKF)":[4],"for":[5,100,161],"matrix":[6,139,182],"Lie":[7,22,77,140],"groups":[8],"is":[9,18,25,42,82,125,131,154,173,187],"proposed":[10,129,185],"where":[11,35],"the":[12,16,21,28,33,36,39,60,64,67,70,76,98,121,138,162,165],"time":[13,57],"propagation":[14,58],"of":[15,32,38,59,66,164],"state":[17],"formulated":[19,134],"on":[20,75,88,137,149,168],"algebra.":[23,78],"This":[24,109],"done":[26,74],"with":[27],"kinematic":[29],"differential":[30],"equation":[31],"logarithm,":[34],"inverse":[37,163],"right":[40,150,166],"Jacobian":[41,167],"used.":[43],"The":[44,79,128,184],"sigma":[45,61],"points":[46,62],"can":[47,72],"then":[48],"be":[49,73],"expressed":[50],"as":[51],"logarithms":[52,89],"in":[53,90,102,132,189],"vector":[54,91],"form,":[55],"and":[56,63,69,93,113,123,135,151,156],"computation":[65],"mean":[68],"covariance":[71],"resulting":[80],"formulation":[81],"to":[83,97],"a":[84,157,177],"large":[85],"extent":[86],"based":[87],"form":[92],"is,":[94],"therefore,":[95],"closer":[96],"UKF":[99],"systems":[101],"<inline-formula":[103,142,169],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[104,143,170],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[105,144,171],"notation=\"LaTeX\">$\\mathbb":[106],"{R}^n$</tex-math></inline-formula>":[107],".":[108,146],"gives":[110,176],"an":[111],"elegant":[112],"well-structured":[114],"formulation,":[115],"which":[116,124,175],"provides":[117],"additional":[118],"insight":[119],"into":[120],"problem,":[122],"computationally":[126],"efficient.":[127],"method":[130,186],"particular":[133],"investigated":[136],"group":[141],"notation=\"LaTeX\">$SE(3)$</tex-math></inline-formula>":[145,172],"A":[147],"discussion":[148],"left":[152],"Jacobians":[153],"included,":[155],"novel":[158],"closed-form":[159],"solution":[160],"derived,":[174],"compact":[178],"representation":[179],"involving":[180],"fewer":[181],"operations.":[183],"validated":[188],"simulations.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}