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Publication Details

Reference TypeConference Proceedings
Author(s)M. Wüthrich, S. Trimpe, D. Kappler and S. Schaal
TitleA New Perspective and Extension of the Gaussian Filter
Journal/Conference/Book TitleRobotics: Science and Systems
KeywordsGaussian Filter, Kalman Filter, Unscented Kalman Filter, Variational Inference
AbstractThe Gaussian Filter (GF) is one of the most widely used filtering algorithms; instances are the Extended Kalman Filter, the Unscented Kalman Filter and the Divided Difference Filter. GFs represent the belief of the current state by a Gaussian with the mean being an affine function of the measurement. We show that this representation can be too restrictive to accurately capture the dependencies in systems with nonlinear observation models, and we investigate how the GF can be generalized to alleviate this problem. To this end we view the GF from a variational-inference perspective, and analyze how restrictions on the form of the belief can be relaxed while maintaining simplicity and efficiency. This analysis provides a basis for generalizations of the GF. We propose one such generalization which coincides with a GF using a virtual measurement, obtained by applying a nonlinear function to the actual measurement. Numerical experiments show that the proposed Feature Gaussian Filter (FGF) can have a substantial performance advantage over the standard GF for systems with nonlinear observation models.
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