Zobrazeno 1 - 10
of 464
pro vyhledávání: '"Hanebeck, Uwe D."'
Autor:
Hanebeck, Uwe D.
We calculate the smoothest mixture density under a variety of prescribed specifications. This includes constraints on certain moments, specifications on density values and/or its derivatives, and prescribed probability masses in certain regions. As a
Externí odkaz:
http://arxiv.org/abs/2311.10190
Autor:
Hanebeck, Uwe D.
We propose a method for optimal Bayesian filtering with deterministic particles. In order to avoid particle degeneration, the filter step is not performed at once. Instead, the particles progressively flow from prior to posterior. This is achieved by
Externí odkaz:
http://arxiv.org/abs/2303.02412
We introduce a novel framework of continuous-time ultra-wideband-inertial sensor fusion for online motion estimation. Quaternion-based cubic cumulative B-splines are exploited for parameterizing motion states continuously over time. Systematic deriva
Externí odkaz:
http://arxiv.org/abs/2301.09033
We propose a novel scheme for efficient Dirac mixture modeling of distributions on unit hyperspheres. A so-called hyperspherical localized cumulative distribution (HLCD) is introduced as a local and smooth characterization of the underlying continuou
Externí odkaz:
http://arxiv.org/abs/2110.10411
Autor:
Frisch, Daniel, Hanebeck, Uwe D.
We consider estimating the parameters of a Gaussian mixture density with a given number of components best representing a given set of weighted samples. We adopt a density interpretation of the samples by viewing them as a discrete Dirac mixture dens
Externí odkaz:
http://arxiv.org/abs/2106.05109
Autor:
Frisch, Daniel, Hanebeck, Uwe D.
We propose a method for deterministic sampling of arbitrary continuous angular density functions. With deterministic sampling, good estimation results can typically be achieved with much smaller numbers of samples compared to the commonly used random
Externí odkaz:
http://arxiv.org/abs/2102.04528
We propose a new recursive method for simultaneous estimation of both the pose and the shape of a three-dimensional extended object. The key idea of the presented method is to represent the shape of the object using spherical harmonics, similar to th
Externí odkaz:
http://arxiv.org/abs/2012.13580
Publikováno v:
IEEE Robotics and Automation Letters, 2021
We present a novel tightly-coupled LiDAR-inertial odometry and mapping scheme for both solid-state and mechanical LiDARs. As frontend, a feature-based lightweight LiDAR odometry provides fast motion estimates for adaptive keyframe selection. As backe
Externí odkaz:
http://arxiv.org/abs/2010.13150
Autor:
Zea, Antonio, Hanebeck, Uwe D.
In this work, we introduce iviz, a mobile application for visualizing ROS data. In the last few years, the popularity of ROS has grown enormously, making it the standard platform for open source robotic programming. A key reason for this success is t
Externí odkaz:
http://arxiv.org/abs/2008.12725
Autor:
Hanebeck, Uwe D.
We want to approximate general multivariate probability density functions by deterministic sample sets. For optimal sampling, the closeness to the given continuous density has to be assessed. This is a difficult challenge in multivariate settings. Si
Externí odkaz:
http://arxiv.org/abs/1912.12875