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Directional Statistics and Filtering Using libDirectional

Kurz, Gerhard; Gilitschenski, I.; Pfaff, Florian; Drude, L.; Hanebeck, Uwe D.; Haeb-Umbach, R.; Siegwart, R. Y.

In this paper, we present libDirectional, a MATLAB library for directional statistics and directional estimation. It supports a variety of commonly used distributions on the unit circle, such as the von Mises, wrapped normal, and wrapped Cauchy distributions. Furthermore, various distributions on higher-dimensional manifolds such as the unit hypersphere and the hypertorus are available. Based on these distributions, several recursive filtering algorithms in libDirectional allow estimation on these manifolds. The functionality is implemented in a clear, well-documented, and object-oriented structure that is both easy to use and easy to extend.

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Zugehörige Institution(en) am KIT Institut für Anthropomatik und Robotik (IAR)
Publikationstyp Forschungsbericht/Preprint
Publikationsdatum 28.12.2017
Sprache Englisch
Identifikator KITopen-ID: 1000120242
Umfang 31 S.
Nachgewiesen in arXiv
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