相关论文: Extended Object Tracking in Curvilinear Road Coord…

While many works exploiting an existing Lie group structure have been proposed for state estimation, in particular the Invariant Extended Kalman Filter (IEKF), few papers address the construction of a group structure that allows casting a…

Maintaining consistent uncertainty estimates in localization systems is crucial as the perceived uncertainty commonly affects high-level system components, such as control or decision processes. A method for constructing an…

This paper introduces a computational framework to reconstruct and forecast a partially observed state that evolves according to an unknown or expensive-to-simulate dynamical system. Our reduced-order autodifferentiable ensemble Kalman…

Driven by technological breakthroughs, indoor tracking and localization have gained importance in various applications including the Internet of Things (IoT), robotics, and unmanned aerial vehicles (UAVs). To tackle some of the challenges…

This paper presents an implementation and evaluation of a Distributed Kalman--Consensus Filter (DKCF) for Multi-Object Tracking (MOT) in mobile robot networks operating under partial observability and heterogeneous localization uncertainty.…

Accurate vehicle positioning requires effective IMU-GPS fusion, yet prior methods-EKF, UKF, ML, GA, and DE-suffer from nonlinearity, instability, or high computational cost. This study introduces a PSO-based adaptive tuning framework for…

Kalman Filter (KF) is widely used in various domains to perform sequential learning or variable estimation. In the context of autonomous vehicles, KF constitutes the core component of many Advanced Driver Assistance Systems (ADAS), such as…

Unscented Kalman Filters (UKFs) have become popular in the research community. Most UKFs work only with Euclidean systems, but in many scenarios it is advantageous to consider systems with state-variables taking values on Riemannian…

Multi-object tracking (MOT) aims at estimating bounding boxes and identities of objects in videos. Most methods can be roughly classified as tracking-by-detection and joint-detection-association paradigms. Although the latter has elicited…

This study proposes a coupled velocity model (CVM) that establishes the relation between the orientation and velocity using their correlation, avoiding that the existing extended object tracking (EOT) models treat them as two independent…

The kinematics of many control systems, especially in the robotics field, naturally live on smooth manifolds. Most classical state-estimation algorithms, including the extended Kalman filter, are posed on Euclidean space. Although any…

In the field of gas pipeline location, existing pipeline location methods mostly rely on pipeline location instruments. However, when faced with complex and curved pipeline scenarios, these methods often fail due to problems such as cable…

In this work we propose a tightly-coupled Extended Kalman Filter framework for IMU-only state estimation. Strap-down IMU measurements provide relative state estimates based on IMU kinematic motion model. However the integration of…

This work presents a novel target-free extrinsic calibration algorithm for a 3D Lidar and an IMU pair using an Extended Kalman Filter (EKF) which exploits the \textit{motion based calibration constraint} for state update. The steps include,…

The immersion and the interaction are the important features of the driving simulator. To improve these characteristics, this paper proposes a low-cost and mark-less driver head tracking framework based on the head pose estimation model,…

This paper is the second of a two-part series that discusses the implementation issues and test results of a robust Unscented Kalman Filter (UKF) for power system dynamic state estimation with non-Gaussian synchrophasor measurement noise.…

This paper proposes a novel geometric nonlinear filter for attitude and bias estimation on the Special Orthogonal Group $SO(3)$ using matrix measurements. The structure of the proposed filter is similar to that of the continuous-time…

This paper develops a new nonlinear filter, called Moment-based Kalman Filter (MKF), using the exact moment propagation method. Existing state estimation methods use linearization techniques or sampling points to compute approximate values…

To reduce the amount of transmitted data, feature map based fusion is recently proposed as a practical solution to cooperative 3D object detection by autonomous vehicles. The precision of object detection, however, may require significant…

We present an Extended Kalman Filter framework for system identification and control of a stochastic high-dimensional epidemic model. The scale and severity of the COVID-19 emergency have highlighted the need for accurate forecasts of the…