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Enhancing Intelligent Shoes with Gait Analysis: A Review on the Spatiotemporal Estimation Techniques. [PDF]
Sensors (Basel)Joseph AM, Kian A, Begg R.
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Object detection through dynamic motor-sensory convergence
Nelinger G, Saraf-Sinik I, Ahissar E.
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Invariant Extended Kalman Filtering for Underwater Navigation
IEEE Robotics and Automation Letters, 2021Recent advances in the utilization of Lie Groups for robotic localization have led to dramatic increases in the accuracy of estimation and uncertainty characterization. One of the novel methods, the Invariant Extended Kalman Filter (InEKF) extends the Extended Kalman Filter (EKF) by leveraging the fact that some error dynamics defined on matrix Lie ...
Easton Potokar +2 more
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Discrete‐time invariant extended Kalman filter on matrix Lie groups
International Journal of Robust and Nonlinear Control, 2020SummaryIn this article, we derive symmetry preserving discrete‐time invariant extended Kalman filters (IEKF) on matrix Lie groups. These Kalman filters offer an advantage over classical 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 ...
Karmvir Singh Phogat, Dong Eui Chang
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Quaternion Invariant Extended Kalman Filtering for Spacecraft Attitude Estimation
Journal of Guidance, Control, and Dynamics, 2018The spacecraft attitude estimation is addressed in the framework of invariant Kalman filtering, which rests on invariance of the system dynamics and output map with respect to appropriate coordinat...
Haichao Gui, Anton H. J. de Ruiter
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Active Tracking using the Invariance Extended Kalman Filter (IEKF)
The Journal of the Acoustical Society of America, 2008The pressure received from a moving source in a shallow water channel has a frequency dependent structure that is imposed by the propagation characteristics of the channel. While an exact description of this structure requires fine knowledge of the channel properties (including bottom composition), an approximate relationship which utilizes the so ...
Lisa M. Zurk +3 more
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Stereo MSCKF with Online Extrinsic Calibration using Invariant Extended Kalman Filter
2021 18th International Conference on Ubiquitous Robots (UR), 2021Rigid body motion can be modeled as the Lie group. For that reason, its uncertainty also has to be represented in the Lie group, and it is crucial for the proper localization of robots moving with high-speed. Also, the rigid body transformations between camera-IMU, multiple cameras that their errors can highly disturb robust state estimation are ...
Eugene Auh, Hyungpil Moon
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Left-invariant extended Kalman filter and attitude estimation
2007 46th IEEE Conference on Decision and Control, 2007We consider a left-invariant dynamics on a Lie group. One way to define driving and observation noises is to make them preserve the symmetries. We propose a left- invariant (i.e, intrinsic and thus symmetry-preserving) extended Kalman filter such that the left-invariant estimation error obeys a stochastic differential equation independent of the system
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Invariant Extended Kalman Filter Applied to Tracking for Air Traffic Control
2019 International Radar Conference (RADAR), 2019In this paper, a recent target model expressed in intrinsic coordinates and based on the Frenet-Serret frame is reviewed. The associated variant of the EKF suited to track the corresponding state, and called the Invariant Extended Kalman Filter (IEKF) is also reviewed.
Pilté Marion +5 more
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Covariance Switch-Based Invariant Extended Kalman Filter for Multi-source Fusion
Guidance, Navigation and ControlThe good estimation consistency of Invariant Extended Kalman Filter (InEKF) is mainly attributed to its excellent trajectory-independent property. However, when the InEKF is applied to multi-source inertial-based navigation that coexists left-invariant and right-invariant observations, the observation matrix would be unavoidably trajectory-dependent ...
Jiale Han +3 more
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