A Right Invariant Extended Kalman Filter for Object Based SLAM

Reduced Dimensionality Extended Kalman Filter for SLAM

Computational complexity of the Kalman filter grows at least quadratically with the number of dimensions in the filter. This is a particular problem for applications like monocular simultaneous localization and mapping (SLAM) where it is not possible to run a single filter on a large map with many thousands of landmarks. This paper presents a method for dramatically reducing the computational c...

Extended Kalman Filter Based Fuzzy Adaptive Filter

A New Adaptive Extended Kalman Filter for a Class of Nonlinear Systems

This paper proposes a new adaptive extended Kalman filter (AEKF) for a class of nonlinear systems perturbed by noise which is not necessarily additive. The proposed filter is adaptive against the uncertainty in the process and measurement noise covariances. This is accomplished by deriving two recursive updating rules for the noise covariances, these rules are easy to implement and reduce the n...

Active Object Tracking Using Extended Kalman Filter for Sonobuoy

In underwater, object information is received by sonobuoy. The sonobuoy generates object range and bearing measurements. Extended Kalman filter is utilized to process the noise corrupted measurements for generation of object motion parameters (OMP). OMP is communicated to the aircraft through a link namely ultra-high frequency link for further processing. Results obtained in the simulation are ...

The Particle Filter and Extended Kalman Filter methods for the structural system identification considering various uncertainties

Structural system identification using recursive methods has been a research direction of increasing interest in recent decades. The two prominent methods, including the Extended Kalman Filter (EKF) and the Particle Filter (PF), also known as the Sequential Monte Carlo (SMC), are advantageous in this field. In this study, the system identification of a shake table test of a 4-story steel struct...