Results 21 to 30 of about 24,887 (253)
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
+6 more sources
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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Iterated Invariant Extended Kalman Filter (IterIEKF) [PDF]
IEEE Transactions on Automatic ControlWe study the mathematical properties of the Invariant Extended Kalman Filter (IEKF) when iterating on the measurement update step, following the principles of the well-known Iterated Extended Kalman Filter. This iterative variant of the IEKF (IterIEKF) systematically improves its accuracy through Gauss-Newton-based relinearization, and exhibits ...
Goffin Sven +4 more
+6 more sources
Invariant Extended Kalman Filtering for Hybrid Models of Bipedal Robot Walking
IFAC-PapersOnLine, 2021 Yuan Gao, Chengzhi Yuan, Yan Gu
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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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Adaptive Invariant Extended Kalman Filter for Legged Robot State Estimation [PDF]
2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)6 pages, accepted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ...
Kyung Hwan Kim +4 more
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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
+5 more sources
Experimental Implementation of an Invariant Extended Kalman Filter-based Scan Matching SLAM [PDF]
2014 American Control Conference, 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
+6 more sources
Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation
Robotics: Science and Systems XIV, 2018 This paper derives a contact-aided inertial navigation observer for a 3D bipedal robot using the theory of invariant observer design. Aided inertial navigation is fundamentally a nonlinear observer design problem; thus, current solutions are based on approximations of the system dynamics, such as an Extended Kalman Filter (EKF), which uses a system's ...
Ross Hartley +3 more
openalex +3 more sources
IEEE Access, 2023 This paper proposes a novel invariant extended Kalman filter (IEKF), a modified version of the extended Kalman filter (EKF), for state-of-charge (SOC) estimation of lithium-ion (Li-ion) battery cells.
Ali Wadi +3 more
doaj +1 more source