Bayesian Methods for Nonlinear System Identification of Civil Structures
MATEC Web of Conferences, 2015 This paper presents a new framework for the identification of mechanics-based nonlinear finite element (FE) models of civil structures using Bayesian methods.
Conte Joel P. +2 more
doaj +1 more source
Invariant EKF Design for Scan Matching-aided Localization
, 2015 Localization in indoor environments is a technique which estimates the robot's pose by fusing data from onboard motion sensors with readings of the environment, in our case obtained by scan matching point clouds captured by a low-cost Kinect depth camera.
Barczyk, Martin +3 more
core +3 more sources
Deterministic Mean-field Ensemble Kalman Filtering [PDF]
, 2016 The proof of convergence of the standard ensemble Kalman filter (EnKF) from Legland etal. (2011) is extended to non-Gaussian state space models. A density-based deterministic approximation of the mean-field limit EnKF (DMFEnKF) is proposed, consisting of
Law, Kody J. H. +2 more
core +2 more sources
Convergence and Consistency Analysis for A 3D Invariant-EKF SLAM
, 2017 In this paper, we investigate the convergence and consistency properties of an Invariant-Extended Kalman Filter (RI-EKF) based Simultaneous Localization and Mapping (SLAM) algorithm. Basic convergence properties of this algorithm are proven. These proofs
Dissanayake, Gamini +4 more
core +1 more source
Legged Robot State Estimation With Invariant Extended Kalman Filter Using Neural Measurement Network [PDF]
2025 IEEE International Conference on Robotics and Automation (ICRA)Donghoon Youm +4 more
openalex +2 more sources
A Unified Filter for Simultaneous Input and State Estimation of Linear Discrete-time Stochastic Systems [PDF]
, 2014 In this paper, we present a unified optimal and exponentially stable filter for linear discrete-time stochastic systems that simultaneously estimates the states and unknown inputs in an unbiased minimum-variance sense, without making any assumptions on ...
Frazzoli, Emilio +2 more
core +1 more source
Three examples of the stability properties of the invariant extended Kalman filter
IFAC-PapersOnLine, 2017 Abstract In the aerospace industry the (multiplicative) extended Kalman filter (EKF) is the most common method for sensor fusion for guidance and navigation. However, from a theoretical point of view, the EKF has been shown to possess local convergence properties only under restrictive assumptions. In a recent paper, we proved a slight variant of the
Axel Barrau, Silvère Bonnabel
+5 more sources
Learning-Assisted Multi-IMU Proprioceptive State Estimation for Quadruped Robots
InformationThis paper presents a learning-assisted approach for state estimation of quadruped robots using observations of proprioceptive sensors, including multiple inertial measurement units (IMUs).
Xuanning Liu +6 more
doaj +1 more source
Invariant Extended Kalman Filter for Autonomous Surface Vessels with Partial Orientation Measurements [PDF]
Autonomous surface vessels (ASVs) are increasingly vital for marine science, offering robust platforms for underwater mapping and inspection. Accurate state estimation, particularly of vehicle pose, is paramount for precise seafloor mapping, as even small surface deviations can have significant consequences when sensing the seafloor below.
Derek Benham +2 more
openalex +3 more sources
Vision-Aided Inertial Navigation for Small Unmanned Aerial Vehicles in GPS-Denied Environments
International Journal of Advanced Robotic Systems, 2013 This paper presents a vision-aided inertial navigation system for small unmanned aerial vehicles (UAVs) in GPS-denied environments. During visual estimation, image features in consecutive frames are detected and matched to estimate the motion of the ...
Tianmiao Wang +4 more
doaj +1 more source