Sughrue Mion, PLLC
Particle sampling method and sensor fusion and filtering method
Disclosed is a technique for obtaining an estimate and variance of each variable based on a constraint manifold. Particles (or samples) are sampled in order to filter and fuse ambiguous data or information on at least one state variable of a system using the particles. The sampling is carried out in consideration of an influence which non-linearity of the constraint manifold of a system model, an observation model or another system model exerts on a probability distribution of the state variable. With this construction, it is possible to reduce decrease of fusion and filtering performance, decrease a Gaussian approximation error, and detect mismatched information.
Sungkyunkwan University Foundation for Corporate Collaboration of Sungkyundwan University
G G
G05B G05B
inventional inventional
Seong-Soo Seung-Min Suk-Han Jang-Yong
Lee Baek Lee Lee