Related papers: Continuous-time filtering in Lie groups: estimatio…
This paper proposes a probabilistic approach to the problem of intrinsic filtering of a system on a matrix Lie group with invariance properties. The problem of an invariant continuous-time model with discrete-time measurements is cast into…
This paper derives the extended Kalman filter (EKF) for continuous-time systems on matrix Lie groups observed through discrete-time measurements. By modeling the system noise on the Lie algebra and adopting a Stratonovich interpretation for…
Given a distribution $\rho$ on persistence diagrams and observations $X_1,...X_n \stackrel{iid}{\sim} \rho$ we introduce an algorithm in this paper that estimates a Fr\'echet mean from the set of diagrams $X_1,...X_n$. If the underlying…
Fr\'echet mean and variance provide a way of obtaining mean and variance for general metric space valued random variables and can be used for statistical analysis of data objects that lie in abstract spaces devoid of algebraic structure and…
We derive symmetry preserving invariant extended Kalman filters (IEKF) on matrix Lie groups. These Kalman filters have an advantage over conventional extended Kalman filters as the error dynamics for such filters are independent of the…
We consider the problem of estimating the Fr\'echet and conditional Fr\'echet mean from data taking values in separable metric spaces. Unlike Euclidean spaces, where well-established methods are available, there is no practical estimator…
We develop a self contained stochastic perturbation theory for discrete generation and multivariate Ensemble Kalman filters. Unlike their continuous-time counterparts, discrete EnKF algorithms are defined through a two steps prediction…
We consider two types of averaging of complex covariance matrices, a sample mean (average) and the sample Fr\'echet mean. We analyse the performance of these quantities as estimators for the true covariance matrix via `intrinsic' versions…
The Fr\'echet mean generalizes the concept of a mean to a metric space setting. In this work we consider equivariant estimation of Fr\'echet means for parametric models on metric spaces that are Riemannian manifolds. The geometry and…
We introduce and discuss Fr\'echet differentiability for maps between Fr\'echet spaces. For delay differential equations $x'(t)=f(x_t)$ we construct a continuous semiflow of continuously differentiable solution operators $x_0\mapsto x_t$,…
This article is concerned with the convergence of the state estimate obtained from the discrete time Kalman filter to the continuous time estimate as the temporal discretization is refined. We derive convergence rate estimates for different…
In this study, we consider the realm of covariance matrices in machine learning, particularly focusing on computing Fr\'echet means on the manifold of symmetric positive definite matrices, commonly referred to as Karcher or geometric means.…
A stochastic filter uses a series of measurements over time to produce estimates of unknown variables based on a dynamic model. For a quantum system, such an algorithm is provided by a quantum filter, which is also known as a stochastic…
This work resolves the following question in non-Euclidean statistics: Is it possible to consistently estimate the Fr\'echet mean set of an unknown population distribution, with respect to the Hausdorff metric, when given access to…
We analyze the convergence aspects of the invariant extended Kalman filter (IEKF), when the latter is used as a deterministic non-linear observer on Lie groups, for continuous-time systems with discrete observations. One of the main…
Fr\'echet means, conceptually appealing, generalize the Euclidean expectation to general metric spaces. We explore how well Fr\'echet means can be estimated from independent and identically distributed samples and uncover a fundamental…
The stochastic interpolant framework offers a powerful approach for constructing generative models based on ordinary differential equations (ODEs) or stochastic differential equations (SDEs) to transform arbitrary data distributions.…
This paper is concerned with the problem of continuous-time nonlinear filtering for stochastic processes on a connected matrix Lie group. The main contribution of this paper is to derive the feedback particle filter (FPF) algorithm for this…
An unscented Kalman filter for matrix Lie groups is proposed where the time propagation of the state is formulated on the Lie algebra. This is done with the kinematic differential equation of the logarithm, where the inverse of the right…
Particle filtering is a standard Monte-Carlo approach for a wide range of sequential inference tasks. The key component of a particle filter is a set of particles with importance weights that serve as a proxy of the true posterior…