Constrained object tracking on compact one-dimensional manifolds based on directional statistics

2013 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2013

Volumn , Issue , 2013, Pages

  Kurz, Gerhard ^a   Faion, Florian ^a   Hanebeck, Uwe D ^a  

^a KARLSRUHE INSTITUTE OF TECHNOLOGY   (Germany)

Author keywords

circular estimation; homeomorphism; manifold; periodic; wrapped normal distribution

Indexed keywords

NORMAL DISTRIBUTION;

DIRECTIONAL STATISTICS; FILTERING ALGORITHM; HOMEOMORPHISM; MANIFOLD; PERIODIC; TRACKING OBJECTS; TRACKING PROBLEM; TRADITIONAL APPROACHES;

BELT CONVEYORS;

EID: 84902150003     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IPIN.2013.6817860     Document Type: Conference Paper

References (17)

1. K. Y. Mardia and P. E. Jupp, Directional Statistics, 1st ed. Wiley, 1999.
2. S. R. Jammalamadaka and A. Sengupta, Topics in Circular Statistics. World Scientific Pub Co Inc, 2001.
3. M. Azmani, S. Reboul, J.-B. Choquel, and M. BenjeUoun, "A recursive fusion filter for angular data," in IEEE International Coriference on Robotics and Biomimetics (ROBIO), 2009, pp. 882-887.
4. G. Stienne, S. Reboul, M. Azmani, J. Choquel, and M. Benjelloun, "A multi-temporal multi-sensor circular fusion filter," lriformation Fusion, 2013.
5. G. Kurz, I. Gilitschenski, and U. D. Hanebeck, "Recursive Nonlinear Filtering for Angular Data Based on Circular Distributions," in Proceedings of the 2013 American Control Conference (ACC 2013), Washington D. C, USA, Jun. 2013.
6. W. Feiten, P. Atwal, R. Eidenberger, and T. Grundmann, "6d pose uncertainty in robotic perception," in Advances in Robotics Research. Springer Berlin Heidelberg, 2009, pp. 89-98.
7. W. Feiten, M. Lang, and S. Hirche, "Rigid motion estimation using mixtures of projected gaussians," in Proceedings of the 16th International Conference on Information Fusion (Fusion 2013), 2013.
8. G. Kurz, l. Gilitschenski, S. J. Julier, and U. D. Hanebeck, "Recursive Estimation of Orientation Based on the Bingham Distribution," in Proceedings of the 16th International Conference on Information Fusion (Fusion 2013), Istanbul, Turkey, Jui. 2013.
9. D. Simon, "Kalman filtering with state constraints: a survey of linear and nonlinear algorithms," IET Control Theory & Applications, vol. 4, no. 8, pp. 1303-1318, 2010.
10. C Yang, M. Bakich, and E. Blasch, "Nonlinear constrained tracking of targets on roads," in 7th International Conference on Infonnation Fusion (FUSION), Philadelphia, Pennsylvania, 2005.
11. L.-S. Wang, Y-T. Chiang, and F.-R. Chang, "Filtering method for nonlinear systems with constraints," IEE Proceedings - Control Theory and Applications, vol. 149, no. 6, p. 525, 2002.
12. C. Yang and E. Blasch, "Kalman filtering with nonlinear state constraints," Aerospace and Electronic Systems, IEEE Transactions on, vol. 45, no. 1, pp. 70-84, 2009.
13. S. Julier and J. LaViola, "On Kalman filtering with nonlinear equality constraints," IEEE Transactions on Signal Processing, vol. 55, no. 6, pp. 2774-2784, 2007.
14. T. Gindele, S. Brechtel, J. Schroder, and R. Dillmann, "Bayesian Occupancy grid Filter for dynamic environments using prior map knowledge," in 2009 IEEE Intelligent Vehicles Symposium. Ieee, Jun. 2009, pp. 669-676.
15. R. E. Kalman, "A New Approach to Linear Filtering and Prediction Problems," Transactions of the ASME Journal of Basic Engineering, vol. 82, pp. 35-45, 1960.
16. S. J. Julier and I. K. Uhlmann, "Unscented filtering and nonlinear estimation," Proceedings of the IEEE, vol. 92, no. 3, pp. 401-422, Mar. 2004.
17. D. E. Amos, "Computation of modified Bessel functions and their ratios," Mathematics of Computation, vol. 28, no. 125, pp. 239-251, 1974.