相关论文: FlexKalmanNet: A Modular AI-Enhanced Kalman Filter…

This paper introduces a new invariant extended Kalman filter design that produces real-time state estimates and rapid error convergence for the estimation of the human body movement even in the presence of sensor misalignment and initial…

Acoustic howling suppression (AHS) is a critical challenge in audio communication systems. In this paper, we propose a novel approach that leverages the power of neural networks (NN) to enhance the performance of traditional Kalman filter…

Inertial motion capture systems widely use low-cost IMUs to obtain the orientation of human body segments, but these sensors alone are unable to estimate link positions. Therefore, this research used a SLAM method in conjunction with…

Transformers are a class of autoregressive deep learning architectures which have recently achieved state-of-the-art performance in various vision, language, and robotics tasks. We revisit the problem of Kalman Filtering in linear dynamical…

Accurate structural response prediction forms a main driver for structural health monitoring and control applications. This often requires the proposed model to adequately capture the underlying dynamics of complex structural systems. In…

Intraoperative tracking of surgical instruments is an inevitable task of computer-assisted surgery. An optical tracking system often fails to precisely reconstruct the dynamic location and pose of a surgical tool due to the acquisition…

Existing motion planning methods often struggle with rapid-motion obstacles due to an insufficient understanding of environmental changes. To address this, we propose integrating motion planners with Doppler LiDARs, which provide not only…

This paper introduces a framework for state estimation on a humanoid robot platform using only common proprioceptive sensors and knowledge of leg kinematics. The presented approach extends that detailed in [1] on a quadruped platform by…

This paper presents a new optimal filter namely past observation-based extended Kalman filter for the problem of localization of Internet-based mobile robot in which the control input and the feedback measurement suffer from communication…

Analyzing the long-term behavior of high-dimensional nonlinear dynamical systems remains a significant challenge. While the Koopman operator framework provides a powerful global linearization tool, current methods for approximating its…

Kalman filters are widely used for object tracking, where process and measurement noise are usually considered accurately known and constant. However, the exact known and constant assumptions do not always hold in practice. For example,…

Robustness and adaptivity are two competing objectives in Kalman filters (KF). Robustness involves temporarily inflating prior estimates of noise covariances, while adaptivity updates prior beliefs by exploiting measurements. In practical…

Many applications involve humans in the loop, where continuous and accurate human motion monitoring provides valuable information for safe and intuitive human-machine interaction. Portable devices such as inertial measurement units (IMUs)…

We propose an efficient online approximate Bayesian inference algorithm for estimating the parameters of a nonlinear function from a potentially non-stationary data stream. The method is based on the extended Kalman filter (EKF), but uses a…

Many multi-object tracking (MOT) approaches, which employ the Kalman Filter as a motion predictor, assume constant velocity and Gaussian-distributed filtering noises. These assumptions render the Kalman Filter-based trackers effective in…

This research paper delves into the Linear Kalman Filter (LKF), highlighting its importance in merging data from multiple sensors. The Kalman Filter is known for its recursive solution to the linear filtering problem in discrete data,…

We present a single-channel phase-sensitive speech enhancement algorithm that is based on modulation-domain Kalman filtering and on tracking the speech phase using circular statistics. With Kalman filtering, using that speech and noise are…

The discovery of linear embedding is the key to the synthesis of linear control techniques for nonlinear systems. In recent years, while Koopman operator theory has become a prominent approach for learning these linear embeddings through…

Learning-based filtering has demonstrated strong performance in non-linear dynamical systems, particularly when the statistics of noise are unknown. However, in real-world deployments, environmental factors, such as changing wind conditions…

mmWave radars have recently gathered significant attention as a means to track human movement within indoor environments. Widely adopted Kalman filter tracking methods experience performance degradation when the underlying movement is…