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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An extended Kalman filter-simultaneous localization and mapping method with Harris-scale-invariant feature transform feature recognition and laser mapping for humanoid robot navigation in unknown environment [PDF]
International Journal of Advanced Robotic Systems, 2017 This article proposes a novel method that combines real-time image recognition with choosing target object real-time localization in unknown environment.
Shuhuan Wen +4 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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Invariant extended Kalman filter on matrix Lie groups [PDF]
Automatica, 2020 We derive symmetry preserving invariant extended Kalman filters (IEKF) on matrix Lie groups. These Kalman filters have an advantage over conventional extended Kalman filters as the error dynamics for such filters are independent of the group configuration which, in turn, provides a uniform estimate of the region of convergence.
Karmvir Singh Phogat, Dong Eui Chang
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Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation [PDF]
The International Journal of Robotics Research, 2019 Legged robots require knowledge of pose and velocity in order to maintain stability and execute walking paths. Current solutions either rely on vision data, which is susceptible to environmental and lighting conditions, or fusion of kinematic and contact data with measurements from an inertial measurement unit (IMU). In this work, we develop a contact-
Ross Hartley +3 more
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, 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 ...
Silvère Bonnabel +2 more
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