Recursive posterior Cramér-Rao lower bound on Lie groups

Proceedings Paper Automation & Control Systems

Improved Kalman-Particle Kernel Filter on Lie Groups Applied to Angles-Only UAV Navigation

Clement Chahbazian et al.

Summary: This paper extends the Euclidean KPKF to a new formulation on Lie groups by introducing improvements based on Lie groups Kalman filters theory and Laplace Particle Filters on Lie groups (LG-LPF). The algorithm shows superior robustness and accuracy in a challenging UAV navigation scenario.

2022 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2022) (2022)

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Proceedings Paper Automation & Control Systems

Generalized Laplace Particle Filter on Lie Groups Applied to Ambiguous Doppler Navigation

Clement Chahbazian et al.

Summary: This paper introduces the advantages of the Lie group Laplace particle filter (LG-LPF) in solving nonlinear and non-Gaussian estimation problems and discusses the limitations of its application scope. A generalized strategy is proposed to extend the application scope of LG-LPF while preserving its advantages. Through experimental comparisons in UAV navigation scenarios, the Lie group approach is shown to improve accuracy and robustness.

2022 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) (2022)

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Article Automation & Control Systems