相关论文: Robust Position Estimation by Rao-Blackwellized Pa…

This paper studies the optimal state estimation for a dynamic system, whose transfer function can be nonlinear and the input noise can be of arbitrary distribution. Our algorithm differs from the conventional extended Kalman filter (EKF)…

For Cyper-Physical Production Systems (CPPS), localization is becoming increasingly important as wireless and mobile devices are considered an integral part. While localizing targets in a wireless communication system based on the Received…

Vision-based Unmanned Aerial Vehicle (UAV) localization systems have been extensively investigated for Global Navigation Satellite System (GNSS)-denied environments. However, existing retrieval-based approaches face limitations in dataset…

FastSLAM is a framework for simultaneous localization using a Rao-Blackwellized particle filter. In FastSLAM, particle filter is used for the mobile robot pose (position and orientation) estimation, and an Extended Kalman Filter (EKF) is…

We propose BEV-Patch-PF, a GPS-free sequential geo-localization system that integrates a particle filter with learned bird's-eye-view (BEV) and aerial feature maps. From onboard RGB and depth images, we construct a BEV feature map. For each…

We present a filtering framework for online joint state estimation and parameter identification in nonlinear, time-varying systems. The algorithm uses Rao-Blackwellization technique to infer joint state-parameter posteriors efficiently. In…

This paper proposes a novel global optimization algorithm, Particle Filter-Based Optimization (PFO), designed for a class of stochastic optimization problems in which the objective function lacks an analytical form and is subject to noisy…

Efficient inference is often possible in a streaming context using Rao-Blackwellized particle filters (RBPFs), which exactly solve inference problems when possible and fall back on sampling approximations when necessary. While RBPFs can be…

This paper explores a Bayesian self-organization method for state-space models, enabling simultaneous state and parameter estimation without repeated likelihood calculations. While efficient for low-dimensional models, high-dimensional…

Target localization is a critical task in various applications, such as search and rescue, surveillance, and wireless sensor networks. When a target emits a radio frequency (RF) signal, spatially distributed sensors can collect signal…

Global navigation satellite system (GNSS) positioning is widely used for urban navigation, but the covariance reported by the GNSS solver is often unreliable in urban canyons. Existing differentiable factor graph optimization (DFGO) methods…

Simultaneous localization and mapping (SLAM) is the task of building a map representation of an unknown environment while at the same time using it for positioning. A probabilistic interpretation of the SLAM task allows for incorporating…

Variational inference for state space models (SSMs) is known to be hard in general. Recent works focus on deriving variational objectives for SSMs from unbiased sequential Monte Carlo estimators. We reveal that the marginal particle filter…

We consider the downlink transmission in a single cell multiple-input multiple-output system, in which the user equipment correspond to a vehicle moving along a given trajectory. This system utilizes millimeter wave channels characterized…

In this work, we propose a new method to track extended targets of different shapes such as ellipses, rectangles and rhombi. We provide an analytical framework to express these shapes as superelliptical contours and propose a Bayesian…

In this paper, we present a UKF-PF based hybrid nonlinear filter for space object tracking. Estimating the state and its associated uncertainty, also known as filtering is paramount to the tracking process. The periodicity of the Keplerian…

The performance of a particle filter (PF) in nonlinear and non-Gaussian environments is often affected by particle degeneracy and impoverishment problems. In this paper, these two problems are re-assessed using the concepts of importance…

The current fusion positioning systems are mainly based on filtering algorithms, such as Kalman filtering or particle filtering. However, the system complexity of practical application scenarios is often very high, such as noise modeling in…

The decentralized particle filter (DPF) was proposed recently to increase the level of parallelism of particle filtering. Given a decomposition of the state space into two nested sets of variables, the DPF uses a particle filter to sample…

Size, weight, and power constrained platforms impose constraints on computational resources that introduce unique challenges in implementing localization algorithms. We present a framework to perform fast localization on such platforms…