PIEKF-VIWO: Visual-Inertial-Wheel Odometry using Partial Invariant Extended Kalman Filter [PDF]
arXiv, 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.
Hua, Tong, Li, Tao, Pei, Ling
core +7 more sources
State Estimation for Quadruped Robots on Non-Stationary Terrain via Invariant Extended Kalman Filter and Disturbance Observer. [PDF]
Sensors (Basel)Quadruped 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.
Wan M, Liu D, Wu J, Li L, Peng Z, Liu Z.
europepmc +7 more sources
Features of Invariant Extended Kalman Filter Applied to Unmanned Aerial Vehicle Navigation. [PDF]
Sensors (Basel), 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 ...
Ko NY, Youn W, Choi IH, Song G, Kim TS.
europepmc +6 more sources
Kinematic Base State Estimation for Humanoid using Invariant Extended Kalman Filter [PDF]
arXivThis paper presents the design and implementation of a Right Invariant Extended Kalman Filter (RIEKF) for estimating the states of the kinematic base of the Surena V humanoid robot.
Nozari, Mahdi +3 more
core +4 more sources
IEEE Conference on Decision and Control, 2009 International audienceA new version of the extended Kalman filter (EKF) is proposed for nonlinear systems possessing symmetries. Instead of using a linear correction term based on a linear output error, it uses a geometrically adapted correction term ...
Bonnabel, Silvère +2 more
core +6 more sources
Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update [PDF]
IEEE International Conference on Robotics and Automation, 2021 This paper proposes a state estimator for legged robots operating in slippery environments. An Invariant Extended Kalman Filter (InEKF) is implemented to fuse inertial and velocity measurements from a tracking camera and leg kinematic constraints.
Sangli Teng +2 more
semanticscholar +5 more sources
Invariant Extended Kalman Filtering Using Two Position Receivers for Extended Pose Estimation [PDF]
arXiv, 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
arxiv +4 more sources
Partial Discharge Localization in Power Transformers Using Invariant Extended Kalman Filter [PDF]
IEEE Transactions on Instrumentation and Measurement, 2023 This article proposes a novel invariant extended Kalman filter (IEKF), a recently modified version of the extended Kalman filter (EKF), to estimate partial discharge (PD) location in a transformer insulation system model.
Wasim M. F. Al-Masri +4 more
openalex +2 more sources
Experimental Implementation of an Invariant Extended Kalman Filter-based Scan Matching SLAM [PDF]
Proceedings of the 2014 American Control Conference, Portland, OR,
June 2014, pp. 4121-4126, 2014 We describe an application of the Invariant Extended Kalman Filter (IEKF) design methodology to the scan matching SLAM problem. We review the theoretical foundations of the IEKF and its practical interest of guaranteeing robustness to poor state estimates, then implement the filter on a wheeled robot hardware platform.
Martin Barczyk +3 more
arxiv +5 more sources
Design and Evaluation of an Invariant Extended Kalman Filter for Trunk Motion Estimation with Sensor Misalignment [PDF]
IEEE/ASME transactions on mechatronics, 2022 Understanding human motion is of critical importance for health monitoring and control of assistive robots, yet many human kinematic variables cannot be directly or accurately measured by wearable sensors.
Ze‐Nan Zhu +3 more
semanticscholar +4 more sources