Related papers: On the Projective Geometry of Kalman Filter
In a recent paper it was shown that all the Hilbert space formulas for quantum probabilities can be realized as functions of geometric properties of the associated projective space, but those functions were expressed using the structures of…
In this note, we highlight some properties of the metric projection onto a closed convex in a Hilbert space. In particular, we use some recent results on fixed points of nonexpansive potential operators.
A common situation in filtering where classical Kalman filtering does not perform particularly well is tracking in the presence of propagating outliers. This calls for robustness understood in a distributional sense, i.e.; we enlarge the…
In this paper, we address the distributed filtering and prediction of time-varying random fields represented by linear time-invariant (LTI) dynamical systems. The field is observed by a sparsely connected network of agents/sensors…
Kalman filtering and smoothing are the foundational mechanisms for efficient inference in Gauss-Markov models. However, their time and memory complexities scale prohibitively with the size of the state space. This is particularly…
The characteristics of the model dynamics are critical in the performance of (ensemble) Kalman filters. In particular, as emphasized in the seminal work of Anna Trevisan and co-authors, the error covariance matrix is asymptotically…
In this note, we define a bounded variant on the Hilbert projective metric on an infinite dimensional space $E$ and study the contraction properties of the projective maps associated with positive linear operators on $E$. More precisely, we…
This paper focuses on designing a consistent and efficient filter for map-based visual-inertial localization. First, we propose a new Lie group with its algebra, based on which a novel invariant extended Kalman filter (invariant EKF) is…
This paper concerns models and convergence principles for dealing with stochasticity in a wide range of algorithms arising in nonlinear analysis and optimization in Hilbert spaces. It proposes a flexible geometric framework within which…
This paper describes some new results on recursive l_1-minimizing by Kalman filtering. We consider the l_1-norm as an explicit constraint, formulated as a nonlinear observation of the state to be estimated. Interpretiing a sparse vector to…
This paper derives a \emph{distributed} Kalman filter to estimate a sparsely connected, large-scale, $n-$dimensional, dynamical system monitored by a network of $N$ sensors. Local Kalman filters are implemented on the ($n_l-$dimensional,…
We propose an adaptive way to choose the anchoring parameters for the Halpern iteration to find a fixed point of a nonexpansive mapping in a real Hilbert space. We prove strong convergence of this adaptive Halpern iteration and obtain the…
We describe a new MCMC method optimized for the sampling of probability measures on Hilbert space which have a density with respect to a Gaussian; such measures arise in the Bayesian approach to inverse problems, and in conditioned…
The ensemble Kalman filter is widely used in applications because, for high dimensional filtering problems, it has a robustness that is not shared for example by the particle filter; in particular it does not suffer from weight collapse.…
The Kalman filter is an established tool for the analysis of dynamic systems with normally distributed noise, and it has been successfully applied in numerous application areas. It provides sequentially calculated estimates of the system…
Optimal decision-making under partial observability requires reasoning about the uncertainty of the environment's hidden state. However, most reinforcement learning architectures handle partial observability with sequence models that have…
The discrete-time approximation for nonlinear filtering problems is related to both of strong and weak approximations of stochastic differential equations. In this paper, we propose a new method of proof for the convergence of approximate…
A Schmidt filter is a modification of the Kalman filter that allows to append system parameters as states and considers their uncertainty effect in the filtering process without attempting to estimate such parameters. The states that are…
The Koopman operator framework offers a way to represent a nonlinear system as a linear one. The key to this simplification lies in the identification of eigenfunctions. While various data-driven algorithms have been developed for this…
In this work a linearly constrained minimization of a positive semidefinite quadratic functional is examined. Our results are concerning infinite dimensional real Hilbert spaces, with a singular positive operator related to the functional,…