Invariant Stochastic Filtering on SE(3) for Inertial-Encoder State Estimation of Serial Rigid Manipulators

arXiv:2607.00026v1 Announce Type: new Abstract: An invariant extended Kalman filter (IEKF) is developed for state estimation of serial rigid manipulators with an arbitrary number of links, formulated entirely within the Lie group SE(3). The group-affine property of the kinematic equations makes the linearised error dynamics autonomous, so the Riccati equation governs the true error covariance rather than a local approximation. A physically separated noise model treats gyroscope and accelerometer...