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International Federation of Automatic Control (IFAC), IFAC papers online, 10(42), p. 540-545, 2009

DOI: 10.3182/20090706-3-fr-2004.00089

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Robust Point-Mass Filters on Manifolds

Journal article published in 2009 by Henrik Tidefelt, Thomas B. Schön ORCID
This paper is made freely available by the publisher.
This paper is made freely available by the publisher.

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Abstract

Robust state estimation for states evolving on compact manifolds is achieved by employing a point-mass filter. The proposed implementation emphasizes a sane treatment of the geometry of the problem, and advocates separation of the filtering algorithms from the implementation of particular manifolds.