1 citations · 1 across the 1 of their papers we have counts for
3 papers
cs.RO2026
Smoothing Out the Edges: Continuous-Time Estimation with Gaussian Process Motion Priors on Factor Graphs
Connor Holmes, Sven Lilge, Zi Cong Guo +2
Continuous-time state estimation is gaining in popularity due to its abilities to provide smooth solutions, handle asynchronous sensors, and interpolate between data points. While…
cs.RO2026★ 1 cited
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…
cs.RO2024
Marginalizing and Conditioning Gaussians onto Linear Approximations of Smooth Manifolds with Applications in Robotics
Zi Cong Guo, James R. Forbes, Timothy D. Barfoot
We present closed-form expressions for marginalizing and conditioning Gaussians onto linear manifolds, and demonstrate how to apply these expressions to smooth nonlinear manifolds…