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cs.RO2024
Affine EKF: Exploring and Utilizing Sufficient and Necessary Conditions for Observability Maintenance to Improve EKF Consistency
Yang Song, Liang Zhao, Shoudong Huang
Inconsistency issue is one crucial challenge for the performance of extended Kalman filter (EKF) based methods for state estimation problems, which is mainly affected by the discre…
cs.RO2024
Partial-to-Full Registration based on Gradient-SDF for Computer-Assisted Orthopedic Surgery
Tiancheng Li, Peter Walker, Danial Hammoud +2
In computer-assisted orthopedic surgery (CAOS), accurate pre-operative to intra-operative bone registration is an essential and critical requirement for providing navigational guid…