Features of Invariant Extended Kalman Filter Applied to Unmanned Aerial Vehicle Navigation [PDF]
Sensors, 2018 This research used an invariant extended Kalman filter (IEKF) for the navigation of an unmanned aerial vehicle (UAV), and compared the properties and performance of this IEKF with those of an open-source navigation method based on an extended Kalman ...
Nak Yong Ko +4 more
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State Estimation for Quadruped Robots on Non-Stationary Terrain via Invariant Extended Kalman Filter and Disturbance Observer [PDF]
SensorsQuadruped robots possess significant mobility in complex and uneven terrains due to their outstanding stability and flexibility, making them highly suitable in rescue missions, environmental monitoring, and smart agriculture.
Mingfei Wan +5 more
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MF-IEKF: A Multiplicative Federated Invariant Extended Kalman Filter for INS/GNSS [PDF]
SensorsThe integration of an inertial navigation system (INS) with the Global Navigation Satellite System (GNSS) is crucial for suppressing the error drift of the INS.
Lebin Zhao +4 more
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Invariant Extended Kalman Filtering for Pedestrian Deep-Inertial Odometry [PDF]
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information SciencesIndoor localization for pedestrians, which relies solely on inertial odometry, has been a topic of great interest. Its significance lies in its ability to provide positioning solutions independently, without the need for external data.
S. Bai, W. Wen, Y. Yu, L.-T. Hsu
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IEEE AccessHigh-precision navigation solutions are essential requirements for various industries, especially the autonomous robotics industry. Inertial navigation systems (INS) are the prime source of navigation information for these applications, while global ...
Maher Tarek +7 more
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Invariant Extended Kalman Filtering Using Two Position Receivers for\n Extended Pose Estimation [PDF]
2021 IEEE International Conference on Robotics and Automation (ICRA), 2021 This paper considers the use of two position receivers and an inertial measurement unit (IMU) to estimate the position, velocity, and attitude of a rigid body, collectively called extended pose. The measurement model consisting of the position of one receiver and the relative position between the two receivers is left invariant, enabling the use of the
Natalia Pavlasek +2 more
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A Right Invariant Extended Kalman Filter for Object based SLAM [PDF]
IEEE Robotics and Automation Letters, 2021 10 pages, 6 figures, 2 ...
Yang Song +5 more
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PIEKF-VIWO: Visual-Inertial-Wheel Odometry using Partial Invariant Extended Kalman Filter [PDF]
2023 IEEE International Conference on Robotics and Automation (ICRA), 2023 Invariant Extended Kalman Filter (IEKF) has been successfully applied in Visual-inertial Odometry (VIO) as an advanced achievement of Kalman filter, showing great potential in sensor fusion. In this paper, we propose partial IEKF (PIEKF), which only incorporates rotation-velocity state into the Lie group structure and apply it for Visual-Inertial-Wheel
Hua Tong, Tao Li, Ling Pei
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Invariant Extended Kalman Filtering for Human Motion Estimation with Imperfect Sensor Placement [PDF]
2022 American Control Conference (ACC), 2022 7 pages, 6 figures, submitted to American Control Conference (ACC)
Ze‐Nan Zhu +3 more
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The Invariant Extended Kalman Filter as a Stable Observer [PDF]
IEEE Transactions on Automatic Control, 2016 Comment: This paper is going to be submitted for publication in IEEE Transactions on Automatic ...
Axel Barrau, Silvère Bonnabel
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