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cs.RO2024
Distributed Invariant Kalman Filter for Object-level Multi-robot Pose SLAM
Haoying Li, Qingcheng Zeng, Haoran Li +2
Cooperative localization and target tracking are essential for multi-robot systems to implement high-level tasks. To this end, we propose a distributed invariant Kalman filter base…
eess.SY2024
Covariance Intersection-based Invariant Kalman Filtering(DInCIKF) for Distributed Pose Estimation
Haoying Li, Xinghan Li, Shuaiting Huang +2
This paper presents a novel approach to distributed pose estimation in the multi-agent system based on an invariant Kalman filter with covariance intersection. Our method models un…
cs.RO2024
Efficient Invariant Kalman Filter for Inertial-based Odometry with Large-sample Environmental Measurements
Xinghan Li, Haoying Li, Guangyang Zeng +4
A filter for inertial-based odometry is a recursive method used to estimate the pose from measurements of ego-motion and relative pose. Currently, there is no known filter that gua…