2022
Geometric Savitzky-Golay Filtering of Noisy Rotations on SO(3) with Simultaneous Angular Velocity and Acceleration Estimation
IROS 2022poster
This paper focuses on the problem of smoothing a rotation trajectory corrupted by noise, while simultaneously estimating its corresponding angular velocity and angular acceleration. To this end, we develop a geometric version of the Savitzky-Golay filter on SO(3) that avoids following the convention…