1 citations · 4 across the 13 of their papers we have counts for
6 papers · 1 filter
The Iterative Equivariant Filter
Pieter van Goor, James Richard Forbes
This paper presents the iterative equivariant filter (IterEqF). The iterative extended Kalman filter (IterEKF) replaces the standard EKF correction step with an iterative correctio…
ARC: Adaptive Robust Joint State and Covariance Estimation
Alexandre Hadji-Thomas, Andrew Stirling, James R. Forbes
Sensor measurements are frequently corrupted by outliers and non-Gaussian noise. These imperfections in the sensor data can cause classical state estimators to generate biased and…
Observability and Consistency Analysis for Visual-Inertial Navigation with Anchored Feature Parameterizations
Mitchell Cohen, Vassili Korotkine, James Richard Forbes
This paper presents an analysis of the observability and consistency properties of filtering-based visual-inertial navigation systems (VINS) that utilize anchored feature represent…
KILO-EKF: Koopman-Inspired Learned Observations Extended Kalman Filter
Zi Cong Guo, James R. Forbes, Timothy D. Barfoot
We present the Koopman-Inspired Learned Observations Extended Kalman Filter (KILO-EKF), which combines a standard EKF prediction step with a correction step based on a Koopman-insp…
Gaussian Variational Inference with Non-Gaussian Factors for State Estimation: A UWB Localization Case Study
Andrew Stirling, Mykola Lukashchuk, Dmitry Bagaev +2
This letter extends the exactly sparse Gaussian variational inference (ESGVI) algorithm for state estimation in two complementary directions. First, ESGVI is generalized to operate…
Nonlinear Observer Design for Visual-Inertial Odometry
Mouaad Boughellaba, Abdelhamid Tayebi, James R. Forbes +1
This paper addresses the problem of Visual-Inertial Odometry (VIO) for rigid body systems evolving in three-dimensional space. We introduce a novel matrix Lie group structure, deno…