DocumentCode
716477
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
fYear
2015
fDate
26-30 May 2015
Firstpage
2454
Lastpage
2461
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2015 IEEE International Conference on
Conference_Location
Seattle, WA
Type
conf
DOI
10.1109/ICRA.2015.7139527
Filename
7139527
Link To Document