| Texto completo | |
| Autor(es): |
Bordin, Claudio J., Jr.
;
Bruno, Marcelo G. S.
;
Dias, Stiven S.
Número total de Autores: 3
|
| Tipo de documento: | Artigo Científico |
| Fonte: | 2025 IEEE INTERNATIONAL CONFERENCE ON ACOUSTICS, SPEECH AND SIGNAL PROCESSING (ICASSP); v. N/A, p. 5-pg., 2025-01-01. |
| Resumo | |
We propose in this paper two adapt-then-combine (ATC) distributed particle filters for cooperative estimation of 3D orientations. The first algorithm represents rotations as elements of the Special Orthogonal Group and builds Gaussian parametric approximations on a Lie Algebra to fuse posterior probability densities. The second algorithm, in turn, represents the orientations as unit-norm quaternions and resorts to directional statistics, fusing von Mises-Fisher parametric approximations. The proposed algorithms performances are then evaluated via numerical simulations. (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 Aplicada |