15 Nov

Currently, I am studying Lie group to understand the application on localization. Here are some materials that I found very useful:B. C. Hall, ``Lie groups, Lie algebras, and representations : an elementary introduction,'' 2015. youtube lectures from Dr. Fredric Schuller The first book can be...

19 Jul

Grid patterns provide a universal and context-independent presentation of space, which can be further incorporated with the place characteritic for autonomous SLAM. To reach the final goal, we have to know how the position is encoded in the grid cells first.As a periodic structure, we can use von...

10 Apr

We can regard Coavariance Intersection as special case of the solution of the barycenter of several probability distributions, when the distance measure is KL divergence. By changing the distance measure, one can get different barycenter of those probability distributions. One of the most important...

16 Feb

I jsut finished the draft of the submission to CDC this week. The paper this time is quite abstract. Even though I tried my best to write it, I still feel it could be better with ideas from others. Hope you can read it and give feedback. Thanks a lot.link

07 Feb

I sadly found out that my current result on CI+KF only works in a very limited scenario.The goal is to prove that CI step can diminish the unobservable space, which means that the information can be meaningfully cascaded by CI step. However, by rigorous defining the algorithm, the information fro...

31 Jan

While I am working on the literature review on distributed estimation algorithm, I think it is insightful to list several algorithms alongside, to see their development. Consensus KF The algorithm is the first one along this investigation. Basically, the algorithm requires nodes to run consens...

30 Nov

While I am editing the paper, some of the reviews mentioned an important paper, Kalman Filtering With Intermittent Observations. The paper mainly deals with the stochastic nature of observation availability. They derived an expected covariance update, named modified Riccati recursion.However, I...

09 Nov

Since we are discussing the distributive Kalman filter based covariance intersection, we have to take a look at how it develops.The paper, named "Diffusion Kalman filter based on Covariance Intersection," is of great importance. The real contribution of this paper is not in the algorithm that the...

02 Nov

I found that the paper, "On the convergence conditions of distributed dyanmic state estimation using sensor networks: A unified framework", proposed the almost identical framework of ours. It should not be surprising, since Covariance Intersection can be naturally integrated in Kalman filter. Howeve...

26 Oct

In the paper of multirobot cooperative localization analysis [1], they discussed two cases: observable and unobservable. The former leads to a stable estimation, while the later does not. In the paper, they uses extensive calculation to delineate their result. However, such outcome can be easily exp...