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A real-time unscented Kalman filter on manifolds for challenging AUV navigation.
Théophile Cantelobre
Clément Chahbazian
Arnaud Croux
Silvère Bonnabel
Published in:
IROS (2020)
Keyphrases
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real time
unscented kalman filter
autonomous underwater vehicle
inertial sensors
dynamic model
position and orientation
state estimation
extended kalman filter
autonomous underwater vehicles
kalman filter
feature space
graph cuts
structure from motion