Gaussian Variational Inference with Covariance Constraints Applied to Range-only Localization
Abhishek Goudar,Wenda Zhao,Timothy D. Barfoot,Angela P. Schoellig,Abhishek Goudar,Wenda Zhao,Timothy D. Barfoot,Angela P. Schoellig
Accurate and reliable state estimation is becoming increasingly important as robots venture into the real world. Gaussian variational inference (GVI) is a promising alternative for nonlinear state estimation, which estimates a full probability density for the posterior instead of a point estimate as in maximum a posteriori (MAP)-based approaches. GVI works by optimizing for the parameters of a mul...
