A smoothing method for nonlinear systems using Gaussian mixture models is presented. Problems of interest include applications with highly nonlinear dynamics and/or measurement models, and sparse measurements. Two new smoothing methods are presented that incorporate adaptive Gaussian splitting in the forward path, and condensation in the backward path. A nonlinear forward-backward smoothing algorithm with Gaussian mixture models is also enabled by a novel technique to estimate the "backward corrector." An experiment of a robot performing indoor navigation in a sparse featured environment demonstrates the performance of the smoothing algorithms in typical applications. Experimental results demonstrate that the new smoothing algorithms give more accurate and consistent estimates than a traditional Kalman smoother, even in the presence of a sparse featured environment and sparse measurements.


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    Title :

    Smoothing Algorithm for Nonlinear Systems Using Gaussian Mixture Models


    Contributors:

    Published in:

    Publication date :

    2015




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English



    Classification :

    Local classification TIB:    770/7040
    BKL:    55.54 Flugführung



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