Pose Estimation based on a Dual Quaternion Feedback Particle Filter
Wenjie Li,Wasif Naeem,Wenhao Ji,Jia Liu,Wei Hao,Lijun Chen,Wenjie Li,Wasif Naeem,Wenhao Ji,Jia Liu,Wei Hao,Lijun Chen
Fast and accurate pose estimation is essential for many robotic applications such as SLAM, manipulation, and 3D point registration. Existing solutions to this problem suffer from either high computation overhead due to the nonlinear features or accuracy loss due to linear approximation. In this paper, we propose a dual quaternion feedback particle filter (DQFPF) that can capture the nonlinear fact...
