Evaluation of the Discrete Time Feedback Particle Filter for IMU-Driven Systems Configured on SE(2)
(2018) 2018 Annual American Control Conference, ACC 2018 2018-June. p.5683-5689- Abstract
This paper evaluates the utility of the feedback particle filter (FPF) for state estimation of SE(2)-configured dynamics in a real-time context. The filter is implemented in discrete time to fuse gyroscopic-and accelerometer measurements with Ultra-Wideband (UWB) and camera measurements. With this state information, the FPF is compared to other common filters in terms of the estimate mean square error (MSE) and robustness to initial conditions. An analysis is done on how these metrics scale with utilization of computational resources, concluding that the FPF should be considered for embedded applications with CPUs on par with the Cortex M4 processor.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/8526d3f3-ca0e-4b04-b6ce-b19f584c4912
- author
- Greiff, Marcus LU and Berntorp, Karl LU
- organization
- publishing date
- 2018-08-09
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- Proceedings of the American Control Conference
- volume
- 2018-June
- article number
- 8431134
- pages
- 5683 - 5689
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- 2018 Annual American Control Conference, ACC 2018
- conference location
- Milwauke, United States
- conference dates
- 2018-06-27 - 2018-06-29
- external identifiers
-
- scopus:85052578777
- ISBN
- 9781538654286
- DOI
- 10.23919/ACC.2018.8431134
- language
- English
- LU publication?
- yes
- id
- 8526d3f3-ca0e-4b04-b6ce-b19f584c4912
- date added to LUP
- 2018-10-17 13:29:30
- date last changed
- 2022-05-03 06:54:25
@inproceedings{8526d3f3-ca0e-4b04-b6ce-b19f584c4912, abstract = {{<p>This paper evaluates the utility of the feedback particle filter (FPF) for state estimation of SE(2)-configured dynamics in a real-time context. The filter is implemented in discrete time to fuse gyroscopic-and accelerometer measurements with Ultra-Wideband (UWB) and camera measurements. With this state information, the FPF is compared to other common filters in terms of the estimate mean square error (MSE) and robustness to initial conditions. An analysis is done on how these metrics scale with utilization of computational resources, concluding that the FPF should be considered for embedded applications with CPUs on par with the Cortex M4 processor.</p>}}, author = {{Greiff, Marcus and Berntorp, Karl}}, booktitle = {{Proceedings of the American Control Conference}}, isbn = {{9781538654286}}, language = {{eng}}, month = {{08}}, pages = {{5683--5689}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, title = {{Evaluation of the Discrete Time Feedback Particle Filter for IMU-Driven Systems Configured on SE(2)}}, url = {{http://dx.doi.org/10.23919/ACC.2018.8431134}}, doi = {{10.23919/ACC.2018.8431134}}, volume = {{2018-June}}, year = {{2018}}, }