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| Publication type: |
Article in Proceedings |
| Author: |
Tom Koller, Udo Frese |
| Title: |
The Interacting Multiple Model Filter on Boxplus-Manifolds |
| Book / Collection title: |
Proceedings of The 2020 IEEE International Conference on Multisensor Fusion and Integration (MFI 2020) |
| Page(s): |
6 |
| Year published: |
2020 |
| Publisher: |
IEEE |
| Abstract: |
The interacting multiple model filter is the standard
in state estimation where different dynamic models are required
to model the behavior of a system. It performs a probabilistic
mixing of estimates. Up to now, it is undefined how to perform this
mixing properly on manifold spaces, e.g. quaternions. We present
the proper probabilistic mixing on differentiable manifolds based
on the boxplus-method. The result is the interacting multiple model
filter on boxplus-manifolds. We prove that our approach is a first
order correct approximation of the optimum. The approach is
evaluated in a simulation and performs as good as the ad-hoc
solution for quaternions. A generic implementation of the boxplus
interacting multiple model filter for differentiable manifolds is
published alongside with this paper.
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| PDF Version: |
http://www.informatik.uni-bremen.de/agebv2/downloads/published/mfi20_imm_on_bp_manifolds.pdf |
| Status: |
Reviewed |
| Last updated: |
17. 09. 2020 |
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