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DOI: 10.1109/MFI.2015.7295738

A Stochastic Filter for Planar Rigid-Body Motions

Gilitschenski, Igor; Kurz, Gerhard; Hanebeck, Uwe D.

This paper presents a novel algorithm for the
estimation of planar rigid-body motions. It is based on using a
probability distribution that is inherently defined on the non-
linear manifold representing these motions and on proposing
a deterministic sampling scheme that makes consideration of
complicated system models possible. Furthermore, we show
that the measurement update for a manifold equivalent to
noisy direct measurements can be carried out in closed form.
Thus, the resulting method avoids errors made due to local
linearization and outperforms methods that wrongly assume
Gaussian distributions, which we show by comparing the
proposed filter to the UKF.

Zugehörige Institution(en) am KIT Institut für Anthropomatik und Robotik (IAR)
Publikationstyp Proceedingsbeitrag
Jahr 2015
Sprache Englisch
Identifikator ISBN: 978-1-4799-7772-7
KITopen ID: 1000051037
Erschienen in Proceedings of the 2015 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2015), 14-16 Sept. 2015, San Diego, CA, USA
Verlag IEEE, Piscataway (NJ)
Seiten 13-18
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