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This paper develops a new filtering approach for state estimation in polynomial systems corrupted by arbitrary noise, which commonly arise in robotics.
A New Approach to Linear Filtering and Prediction Problems
Rudolph E. Kalman · 1960
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Large sample properties of generalized method of moments estimators
Lars Peter Hansen · 1982
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The extended Kalman filter as a local asymptotic observer for nonlinear discrete-time systems
Yongkyu Song and Jessy W Grizzle · 1992
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The unscented Kalman filter for nonlinear estimation
Eric A Wan and Rudolph Van Der Merwe · 2000
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Global optimization with polynomials and the problem of moments
Jean B Lasserre · 2001
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Sebastian Thrun · 2002
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Guoquan P Huang, Anastasios I Mourikis, and Stergios I Roumeliotis · 2010
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Andrew W Long, Kevin C Wolfe, Michael J Mashner, Gregory S Chirikjian, et al · 2013
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State estimation under non-Gaussian Lévy noise: A modified Kalman filtering method
Xu Sun, Jinqiao Duan, Xiaofan Li, and Xiangjun Wang · 2013
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Kalman Filtering: Theory and Practice with MATLAB
Mohinder S Grewal and Angus P Andrews · 2014
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Hand-eye and robot-world calibration by global polynomial optimization
Jan Heller, Didier Henrion, and Tomas Pajdla · 2014
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An introduction to polynomial and semi-algebraic optimization , volume 52
Jean Bernard Lasserre · 2015
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Global registration of multiple point clouds using semidefinite programming
Kunal N Chaudhury, Yuehaw Khoo, and Amit Singer · 2015
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Axel Barrau and Silvère Bonnabel · 2016
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Reza Izanloo, Seyed Abolfazl Fakoorian, Hadi Sadoghi Yazdi, and Dan Simon · 2016
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Luca Carlone, Giuseppe C Calafiore, Carlo Tommolillo, and Frank Dellaert · 2016
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Point registration via efficient convex relaxation
In perfect shape: Certifiably optimal 3D shape reconstruction from 2D landmarks
Heng Yang and Luca Carlone · 2020
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Heng Yang, Jingnan Shi, and Luca Carlone · 2020
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Stable rank-one matrix completion is solved by the level 2 lasserre relaxation
Augustin Cosse and Laurent Demanet · 2021
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Legged robot state estimation in slippery environments using invariant extended kalman filter with velocity update
Sangli Teng, Mark Wilfried Mueller, and Koushil Sreenath · 2021
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Moment-based exact uncertainty propagation through nonlinear stochastic autonomous systems
Ashkan Jasour, Allen Wang, and Brian C Williams · 2021
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Unscented Kalman filtering on Lie groups
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Progress in symmetry preserving robot perception and control through geometry and learning
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Fully proprioceptive slip-velocity-aware state estimation for mobile robots via invariant kalman filtering and disturbance observer
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Cvxpnpl: A unified convex solution to the absolute pose estimation problem from point and line correspondences
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