On-line state and parameter estimation of an under-actuated underwater vehicle using a modified Dual Unscented Kalman Filter.
George C. KarrasSavvas G. LoizouKostas J. KyriakopoulosPublished in: IROS (2010)
Keyphrases
- parameter estimation
- least squares
- maximum likelihood
- underwater vehicles
- model selection
- parameter estimation algorithm
- unscented kalman filter
- em algorithm
- markov random field
- posterior distribution
- random fields
- state estimation
- approximate inference
- expectation maximization
- markov chain
- higher order
- state space
- feature selection
- kalman filter
- probability distribution
- mobile robot