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Invariant Kalman Filtering with Noise-Free Pseudo-Measurements
We relate the constraints to group-theoretic properties and study the behavior of the IEKF in the presence of such noise-free measurements.
Iterated Invariant Extended Kalman Filter (IIEKF)
In this paper, we introduce the Iterated Invariant Extended Kalman Filter (IIEKF), which is an invariant extended Kalman filter (IEKF) where the updated state in the light of the latest measurement is defined as a maximum a posteriori (MAP) estimate.
Implicit representation priors meet Riemannian geometry for Bayesian robotic grasping
Robotic grasping in highly noisy environments presents complex challenges, especially with limited prior knowledge about the scene.
Simulation-based Bayesian inference for robotic grasping
General robotic grippers are challenging to control because of their rich nonsmooth contact dynamics and the many sources of uncertainties due to the environment or sensor noise.
Simulation-based Bayesian inference for multi-fingered robotic grasping
Multi-fingered robotic grasping is an undeniable stepping stone to universal picking and dexterous manipulation.
