Title :
The Coordinate Particle Filter - a novel Particle Filter for high dimensional systems
Author :
Wuthrich, Manuel ; Bohg, Jeannette ; Kappler, Daniel ; Pfreundt, Claudia ; Schaal, Stefan
Author_Institution :
Autonomous Motion Dept., Max-Planck-Inst. for Intell. Syst., Tubingen, Germany
Abstract :
Parametric filters, such as the Extended Kalman Filter and the Unscented Kalman Filter, typically scale well with the dimensionality of the problem, but they are known to fail if the posterior state distribution cannot be closely approximated by a density of the assumed parametric form.
Keywords :
Kalman filters; nonlinear filters; particle filtering (numerical methods); coordinate particle filter; extended Kalman Filter; high dimensional systems; novel particle filter; posterior state distribution; unscented Kalman Filter; Approximation methods; Monte Carlo methods; Noise; Particle filters; Proposals; Standards; Trajectory;
Conference_Titel :
Robotics and Automation (ICRA), 2015 IEEE International Conference on
Conference_Location :
Seattle, WA
DOI :
10.1109/ICRA.2015.7139527
