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- W2891336466 abstract "In this paper, we present a novel nonlinear progressive filtering approach for estimating <i xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>SE</i> (2) states represented by unit dual quaternions. Unlike previously published approaches, the measurement model no longer needs to be assumed as identity. Our solution utilizes deterministic sampling on a Bingham-like probability distribution, which has been adapted to simultaneously model orientation and translation. During the measurement update step, the estimate gets progressively updated. Our approach inherently incorporates the nonlinear structure of <i xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>SE</i> (2) and enables a flexible measurement update step. We also give an evaluation for planar rigid body motion estimation with a case study that is close to real-world scenarios." @default.
- W2891336466 created "2018-09-27" @default.
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- W2891336466 date "2018-07-01" @default.
- W2891336466 modified "2023-09-30" @default.
- W2891336466 title "Nonlinear Progressive Filtering for SE(2) Estimation" @default.
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- W2891336466 doi "https://doi.org/10.23919/icif.2018.8455231" @default.
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