DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups.
Prashanth RamadossGiulio RomualdiStefano DafarraFrancisco Javier Andrade ChavezSilvio TraversaroDaniele PucciPublished in: ICRA (2021)
Keyphrases
- kalman filtering
- lie group
- humanoid robot
- kalman filter
- vector field
- infinite dimensional
- mean shift
- parameter space
- euclidean space
- maximum likelihood
- covariance matrices
- geometric structure
- vector space
- linear transformation
- multi modal
- least squares
- riemannian manifolds
- multi frame
- particle filtering
- motion patterns
- particle filter
- rigid motion
- multiscale
- tensor field
- computationally efficient
- visual tracking