Unscented Kalman Filters for Riemannian State-Space Systems

Henrique M. T. Menegaz, João Y. Ishihara, Hugo T. M. Kussaba

Unscented Kalman Filters (UKFs) have become popular in the research community. Most UKFs work only with Euclidean systems, but in many scenarios it is advantageous to consider syst…