Image de couverture de livre

Backpropagation-Based Analytical Derivatives of EKF Covariance for Active Sensing

Fuente: arXiv

Enregistré dans:

Détails bibliographiques
Auteurs principaux:	Benhamou, Jonas, Bonnabel, Silvère, Chapdelaine, Camille
Format:	Preprint
Publié:	2024
Sujets:	Robotics
Accès en ligne:	Acceder al recurso
Tags:	Ajouter un tag Pas de tags, Soyez le premier à ajouter un tag!

Documents similaires

Iterated Invariant EKF for Quadruped Robot Odometry
par: Santana, Hilton Marques Souza, et autres
Publié: (2026)

Invariant filtering for wheeled vehicle localization with unknown wheel radius and unknown GNSS lever arm
par: Chauchat, Paul, et autres
Publié: (2024)

Invariant Smoothing for Localization: Including the IMU Biases
par: Chauchat, Paul, et autres
Publié: (2023)

Affine EKF: Exploring and Utilizing Sufficient and Necessary Conditions for Observability Maintenance to Improve EKF Consistency
par: Song, Yang, et autres
Publié: (2024)

EKF-Based Radar-Inertial Odometry with Online Temporal Calibration
par: Kim, Changseung, et autres
Publié: (2025)

Adaptive Covariance and Quaternion-Focused Hybrid Error-State EKF/UKF for Visual-Inertial Odometry
par: Asil, Ufuk, et autres
Publié: (2025)

CoCo-InEKF: State Estimation with Learned Contact Covariances in Dynamic, Contact-Rich Scenarios
par: Baumgartner, Michael, et autres
Publié: (2026)

Perception-Control Coupled Visual Servoing for Textureless Objects Using Keypoint-Based EKF
par: Tao, Allen, et autres
Publié: (2026)

Low-rank plus diagonal approximations for Riccati-like matrix differential equations
par: Bonnabel, Silvère, et autres
Publié: (2024)

Variational Dynamic Programming for Stochastic Optimal Control
par: Lambert, Marc, et autres
Publié: (2024)

Notes on Kalman Filter (KF, EKF, ESKF, IEKF, IESKF)
par: Im, Gyubeom
Publié: (2024)

KILO-EKF: Koopman-Inspired Learned Observations Extended Kalman Filter
par: Guo, Zi Cong, et autres
Publié: (2026)

Robust Orientation Estimation with TRIAD-aided Manifold EKF
par: Sadananda, Arjun, et autres
Publié: (2025)

I2EKF-LO: A Dual-Iteration Extended Kalman Filter Based LiDAR Odometry
par: Yu, Wenlu, et autres
Publié: (2024)

Fast Decentralized State Estimation for Legged Robot Locomotion via EKF and MHE
par: Kang, Jiarong, et autres
Publié: (2024)

STITCH 2.0: Extending Augmented Suturing with EKF Needle Estimation and Thread Management
par: Hari, Kush, et autres
Publié: (2025)

LIO-EKF: High Frequency LiDAR-Inertial Odometry using Extended Kalman Filters
par: Wu, Yibin, et autres
Publié: (2023)

EKF-Based Depth Camera and Deep Learning Fusion for UAV-Person Distance Estimation and Following in SAR Operations
par: Šiktar, Luka, et autres
Publié: (2026)

EKF-Based Fusion of Wi-Fi/LiDAR/IMU for Indoor Localization and Navigation
par: Li, Zeyi, et autres
Publié: (2025)

Augmenting Inertial Motion Capture with SLAM Using EKF and SRUKF Data Fusion Algorithms
par: Azarbeik, Mohammad Mahdi, et autres
Publié: (2023)

Invariant Kalman Filtering with Noise-Free Pseudo-Measurements
par: Goffin, Sven, et autres
Publié: (2024)

Pitch Angle Control of a Magnetically Actuated Capsule Robot with Nonlinear FEA-based MPC and EKF Multisensory Fusion
par: Wang, Chongxun, et autres
Publié: (2026)

Seamless Outdoor-Indoor Pedestrian Positioning System with GNSS/UWB/IMU Fusion: A Comparison of EKF, FGO, and PF
par: Zhang, Jiaqiang, et autres
Publié: (2025)

Tool Shape Optimization through Backpropagation of Neural Network
par: Kawaharazuka, Kento, et autres
Publié: (2024)

Multimodal Belief-Space Covariance Steering with Active Probing and Influence for Interactive Driving
par: Chakravarty, Devodita, et autres
Publié: (2026)

SDPRLayers: Certifiable Backpropagation Through Polynomial Optimization Problems in Robotics
par: Holmes, Connor, et autres
Publié: (2024)

First Order Model-Based RL through Decoupled Backpropagation
par: Amigo, Joseph, et autres
Publié: (2025)

Collision Detection with Analytical Derivatives of Contact Kinematics
par: Mathew, Anup Teejo, et autres
Publié: (2026)

Intelligent Control of Differential Drive Robots Subject to Unmodeled Dynamics with EKF-based State Estimation
par: Alwala, Amos, et autres
Publié: (2026)

Factor Graph Fusion of Raw GNSS Sensing with IMU and Lidar for Precise Robot Localization without a Base Station
par: Beuchert, Jonas, et autres
Publié: (2022)

An Event-Based Approach for the Conservative Compression of Covariance Matrices
par: Funk, Christopher, et autres
Publié: (2024)

COMPASS: Confined-space Manipulation Planning with Active Sensing Strategy
par: Li, Qixuan, et autres
Publié: (2025)

Active Contact Sensing for Robust Robot-to-Human Object Handover
par: Li, Linfeng, et autres
Publié: (2026)

Indoor Positioning Based on Active Radar Sensing and Passive Reflectors: Reflector Placement Optimization
par: Hinderer, Sven, et autres
Publié: (2025)

Sound of Touch: Active Acoustic Tactile Sensing via String Vibrations
par: Yi, Xili, et autres
Publié: (2026)

Active Sensing for Search and Tracking: A Review
par: Varotto, Luca, et autres
Publié: (2021)

BVE + EKF: A viewpoint estimator for the estimation of the object's position in the 3D task space using Extended Kalman Filters
par: Magalhães, Sandro Costa, et autres
Publié: (2024)

Iterated Invariant Extended Kalman Filter (IterIEKF)
par: Goffin, Sven, et autres
Publié: (2024)

JIGGLE: An Active Sensing Framework for Boundary Parameters Estimation in Deformable Surgical Environments
par: Shinde, Nikhil Uday, et autres
Publié: (2024)

CEASE: Collision-Evaluation-based Active Sense System for Collaborative Robotic Arms
par: Huang, Xian, et autres
Publié: (2024)