相关论文: Unsupervised Learned Kalman Filtering

This paper presents a deep learning enhanced adaptive unscented Kalman filter (UKF) for predicting human arm motion in the context of manufacturing. Unlike previous network-based methods that solely rely on captured human motion data, which…

(Very early draft)Traditional supervised learning keeps pushing convolution neural network(CNN) achieving state-of-art performance. However, lack of large-scale annotation data is always a big problem due to the high cost of it, even…

This paper examines learning the optimal filtering policy, known as the Kalman gain, for a linear system with unknown noise covariance matrices using noisy output data. The learning problem is formulated as a stochastic policy optimization…

Unmanned Aerial Vehicles in dynamic environments face telemetry outages, structural vibrations, and regime-dependent noise that invalidate the stationary covariance assumptions of classical Kalman filters. The Sage-Husa Kalman Filter (SHKF)…

Unsupervised neural network learning extracts hidden features from unlabeled training data. This is used as a pretraining step for further supervised learning in deep networks. Hence, understanding unsupervised learning is of fundamental…

This paper presents an algorithm to improve state estimation for legged robots. Among existing model-based state estimation methods for legged robots, the contact-aided invariant extended Kalman filter defines the state on a Lie group to…

In this paper, we present SSDNet, a novel deep learning approach for time series forecasting. SSDNet combines the Transformer architecture with state space models to provide probabilistic and interpretable forecasts, including trend and…

The well-known Kalman filters model dynamical systems by relying on state-space representations with the next state updated, and its uncertainty controlled, by fresh information associated with newly observed system outputs. This paper…

In many applications of state estimation, the process noise is colored; this case is addressed by applying the standard Kalman filter (KF) to dynamics that are augmented with the coloring dynamics. The present paper considers the case where…

Kalman Filter (KF) is an optimal linear state prediction algorithm, with applications in fields as diverse as engineering, economics, robotics, and space exploration. Here, we develop an extension of the KF, called a Pathspace Kalman Filter…

In latest years, deep learning has gained a leading role in the pansharpening of multiresolution images. Given the lack of ground truth data, most deep learning-based methods carry out supervised training in a reduced-resolution domain.…

A novel approach for vehicle tracking using a hybrid adaptive Kalman filter is proposed. The filter utilizes recurrent neural networks to learn the vehicle's geometrical and kinematic features, which are then used in a supervised learning…

The Kalman filter (KF) is an optimal linear state estimator for linear systems, and numerous extensions, including the extended Kalman filter (EKF), unscented Kalman filter (UKF), and cubature Kalman filter (CKF), have been developed for…

We propose a novel learning-based approach for robust 3D shape matching. Our method builds upon deep functional maps and can be trained in a fully unsupervised manner. Previous deep functional map methods mainly focus on predicting…

This paper proposes a novel vehicle sideslip angle estimator, which uses the physical knowledge from an Unscented Kalman Filter (UKF) based on a non-linear single-track vehicle model to enhance the estimation accuracy of a Convolutional…

In the classical Kalman filter(KF), the estimated state is a linear combination of the one-step predicted state and measurement state, their confidence level change when the prediction mean square error matrix and covariance matrix of…

Dynamical models estimate and predict the temporal evolution of physical systems. State Space Models (SSMs) in particular represent the system dynamics with many desirable properties, such as being able to model uncertainty in both the…

Supervised learning of convolutional neural networks (CNNs) can require very large amounts of labeled data. Labeling thousands or millions of training examples can be extremely time consuming and costly. One direction towards addressing…

Recent studies in neuroscience suggest that Successor Representation (SR)-based models provide adaptation to changes in the goal locations or reward function faster than model-free algorithms, together with lower computational cost compared…

This paper introduces a novel proprioceptive state estimator for legged robots that combines model-based filters and deep neural networks. Recent studies have shown that neural networks such as multi-layer perceptron or recurrent neural…