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: CoRR (2021)
Keyphrases
- kalman filtering
- lie group
- humanoid robot
- kalman filter
- mean shift
- infinite dimensional
- parameter space
- particle filtering
- linear transformation
- vector field
- least squares
- human motion
- geometric structure
- vector space
- euclidean space
- multi modal
- riemannian manifolds
- motion patterns
- multiscale
- maximum likelihood
- multi frame
- particle filter
- pairwise
- finite dimensional
- lagrange multipliers