Distributed Diffusion-Based Manifold Particle Filters for Orientation Estimation

Autor(es)

Bordin, Claudio J., Jr. ; Bruno, Marcelo G. S.

• Tipo de documento: Artigo Científico
• Fonte: 32ND EUROPEAN SIGNAL PROCESSING CONFERENCE, EUSIPCO 2024; v. N/A, p. 5-pg., 2024-01-01.

Resumo

Determining orientation is a fundamental problem in fields such as robotics, computer vision, and autonomous driving. In three-dimensional space, orientations can be represented in many forms, including unit quaternions or points of the Special Orthogonal Group (SO(3)). These representations present challenges due to their non-Euclidean nature. This paper addresses the problem of computing a joint Bayesian estimate of a rotation given the observations of a set of receivers that consist of corrupted and transformed versions of the true orientation. We evaluate the performance of the described algorithms via numerical simulations in terms of accuracy and communication requirements. (AU)

• Processo FAPESP: 20/09838-0 - BI0S - Brazilian Institute of Data Science
• Beneficiário: João Marcos Travassos Romano
• Modalidade de apoio: Auxílio à Pesquisa - Programa Centros de Pesquisa em Engenharia