590 research outputs found
Unscented Orientation Estimation Based on the Bingham Distribution
Orientation estimation for 3D objects is a common problem that is usually
tackled with traditional nonlinear filtering techniques such as the extended
Kalman filter (EKF) or the unscented Kalman filter (UKF). Most of these
techniques assume Gaussian distributions to account for system noise and
uncertain measurements. This distributional assumption does not consider the
periodic nature of pose and orientation uncertainty. We propose a filter that
considers the periodicity of the orientation estimation problem in its
distributional assumption. This is achieved by making use of the Bingham
distribution, which is defined on the hypersphere and thus inherently more
suitable to periodic problems. Furthermore, handling of non-trivial system
functions is done using deterministic sampling in an efficient way. A
deterministic sampling scheme reminiscent of the UKF is proposed for the
nonlinear manifold of orientations. It is the first deterministic sampling
scheme that truly reflects the nonlinear manifold of the orientation
Recursive Estimation of Orientation Based on the Bingham Distribution
Directional estimation is a common problem in many tracking applications.
Traditional filters such as the Kalman filter perform poorly because they fail
to take the periodic nature of the problem into account. We present a recursive
filter for directional data based on the Bingham distribution in two
dimensions. The proposed filter can be applied to circular filtering problems
with 180 degree symmetry, i.e., rotations by 180 degrees cannot be
distinguished. It is easily implemented using standard numerical techniques and
suitable for real-time applications. The presented approach is extensible to
quaternions, which allow tracking arbitrary three-dimensional orientations. We
evaluate our filter in a challenging scenario and compare it to a traditional
Kalman filtering approach
Tracking 3-D Rotations with the Quaternion Bingham Filter
A deterministic method for sequential estimation of 3-D rotations is presented. The Bingham distribution is used to represent uncertainty directly on the unit quaternion hypersphere. Quaternions avoid the degeneracies of other 3-D orientation representations, while the Bingham distribution allows tracking of large-error (high-entropy) rotational distributions. Experimental comparison to a leading EKF-based filtering approach on both synthetic signals and a ball-tracking dataset shows that the Quaternion Bingham Filter (QBF) has lower tracking error than the EKF, particularly when the state is highly dynamic. We present two versions of the QBF, suitable for tracking the state of first- and second-order rotating dynamical systems
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