2023
Cramér-Rao Bound on Lie Groups with Observations on Lie Groups: Application to SE(2)
ICASSP 2023accepted
In this communication, we derive a new intrinsic Cramér-Rao bound for both parameters and observations lying on Lie groups. The expression is obtained by using the intrinsic properties of Lie groups. An exact expression is obtained for the case where parameters and observations are in SE(2), the sem…