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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…
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…
Data-Driven Batch Localization and SLAM Using Koopman Linearization
Zi Cong Guo, Frederike Dümbgen, James R. Forbes +1
We present a framework for model-free batch localization and SLAM. We use lifting functions to map a control-affine system into a high-dimensional space, where both the process mod…