Robustifying the Kalman Filter Against Measurement Outliers: An Innovation Saturation Mechanism.
Huazhen FangMulugeta A. HaileYebin WangPublished in: CDC (2018)
Keyphrases
- kalman filter
- random sample consensus
- kalman filtering
- state estimation
- particle filter
- target tracking
- object tracking
- measurement error
- extended kalman filter
- bayesian filtering
- state space model
- mean shift
- data association
- reduced order model
- pattern recognition
- scale factor
- simultaneous localization and mapping
- robust tracking
- particle filtering
- high dimensional data
- dimensionality reduction
- update equations
- data analysis