Showing 2024Show all
3 papers · 1 filter
cs.RO2024
Robust State Estimation for Legged Robots with Dual Beta Kalman Filter
Tianyi Zhang, Wenhan Cao, Chang Liu +3
Existing state estimation algorithms for legged robots that rely on proprioceptive sensors often overlook foot slippage and leg deformation in the physical world, leading to large…
eess.SY2024
Nonlinear Bayesian Filtering with Natural Gradient Gaussian Approximation
Wenhan Cao, Tianyi Zhang, Zeju Sun +3
Practical Bayes filters often assume the state distribution of each time step to be Gaussian for computational tractability, resulting in the so-called Gaussian filters. When facin…
cs.CV2024
Convolutional Unscented Kalman Filter for Multi-Object Tracking with Outliers
Shiqi Liu, Wenhan Cao, Chang Liu +2
Multi-object tracking (MOT) is an essential technique for navigation in autonomous driving. In tracking-by-detection systems, biases, false positives, and misses, which are referre…