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Dmitry Bagaev

2 accepted papers

2026

Gaussian Variational Inference With Non-Gaussian Factors for State Estimation: A UWB Localization Case Study

Andrew Stirling, Mykola Lukashchuk, Dmitry Bagaev, Wouter M. Kouw, James Richard Forbes
RA-L 2026

This letter extends the exactly sparse Gaussian variational inference (ESGVI) algorithm for state estimation in two complementary directions. First, ESGVI is generalized to operate on matrix Lie groups, enabling the estimation of states with orientation components while respecting the underlying gro

Cited by 2Source ↗code ↗Scholar ↗
2026

Gaussian Variational Inference with Non-Gaussian Factors for State Estimation: A UWB Localization Case Study

Andrew Stirling, Mykola Lukashchuk, Dmitry Bagaev, Wouter Kouw, James Richard Forbes
ICRA 2026poster

This letter extends the exactly sparse Gaussian variational inference (ESGVI) algorithm for state estimation in two complementary directions. First, ESGVI is generalized to operate on matrix Lie groups, enabling the estimation of states with orientation components while respecting the underlying gro…

Cited by 0Source ↗PDF ↗Scholar ↗