用伽利略群统一建模时空不确定性，助力机器人感知与控制
Making Space for Time: The Special Galilean Group and Its Application to Some Robotics Problems
- 基于10维伽利略群构建时空联合表示框架
- 支持空间时间不确定性的一致性建模与传播
- 适合需要时空协同的机器人任务如定位、规划
特殊伽利略群SGal(3)是一个10维李群，其重要子群包括特殊正交群、特殊欧几里得群及扩展位姿群。本文简要描述了SGal(3)及其李代数，并展示该群结构如何支持空间与时间不确定性的一体化表示。旨在强调该群在若干机器人问题中的潜在应用价值。
原文摘要 · Abstract (English)
The special Galilean group, usually denoted SGal(3), is a 10-dimensional Lie group whose important subgroups include the special orthogonal group, the special Euclidean group, and the group of extended poses. We briefly describe SGal(3) and its Lie algebra and show how the group structure supports a unified representation of uncertainty in space and time. Our aim is to highlight the potential usefulness of this group for several robotics problems.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。