An equivariant Poincar\'e duality for proper cocompact actions by matrix groups

Let $G$ be a linear Lie group acting properly and isometrically on a $G$-spin$^c$ manifold $M$ with compact quotient. We show that Poincar\'e duality holds between $G$-equivariant $K$-theory of $M$, defined using finite-dimensional $G$-vector bundles, and $G$-equivariant $K$-homology of $M$, defined through the geometric model of Baum and Douglas.