2 papers
cs.RO2026
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.RO2025
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…