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Pregled bibliografske jedinice broj: 815300

Zbornik radova

Autori: Marković, Ivan; Ćesić, Josip; Petrović, Ivan
Naslov: On wrapping the Kalman filter and estimating with the SO(2) group
Izvornik: 19th International Conference on Information Fusion (FUSION), Special Session on Directional EstimationHeidelberg, Germany :
Skup: 19th International Conference on Information Fusion (FUSION), Special Session on Directional Estimation
Mjesto i datum: Heidelberg, Germany, 05-08.07.2016.
Ključne riječi: Lie groups; Special orthogonal group; Kalman filter
Sažetak:
This paper analyzes directional tracking in 2D with the extended Kalman filter on Lie groups (LG-EKF). The study stems from the problem of tracking objects moving in 2D Euclidean space, with the observer measuring direction only, thus rendering the measurement space and object position on the circle — a non-Euclidean geometry. The problem is further inconvenienced if we need to include higher-order dynamics in the state space, like angular velocity which is a Euclidean variables. The recently proposed LG-EKF offers a different solution to this issue by modeling the state space as a Lie group or combinations thereof, e.g., SO(2) or its combinationswith R^n . In the present paper, we first derive the LG-EKF on SO(2) and subsequently show that this derivation, based on the mathematically grounded framework of filtering on Lie groups, yields the same result as heuristically wrapping the angular variable within the EKF framework. This result applies only to the SO(2) and SO(2)×R^n LG-EKFs and is not intended to be extended to other Lie groups or combinations thereof. In the end, we showcase the SO(2)×R^2 LG-EKF, as an example of a constant angular acceleration model, on the problem of speaker tracking with a microphone array for which real-world experiments are conducted and accuracy is evaluated with ground truth data obtained by a motion capture system.
Vrsta sudjelovanja: Pozvano
Vrsta prezentacije u zborniku: Cjeloviti rad (više od 1500 riječi)
Vrsta recenzije: Međunarodna recenzija
Izvorni jezik: ENG
Kategorija: Znanstveni
Znanstvena područja:
Elektrotehnika,Računarstvo,Temeljne tehničke znanosti
Upisao u CROSBI: Ivan Marković (ivan.markovic@fer.hr), 12. Svi. 2016. u 09:50 sati



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