Distributed ATC Particle Filters for Cooperative Quaternion Tracking

Claudio J. Bordin; Marcelo G. S. Bruno; Stiven S. Dias

ICASSP 2025accepted0 citations

Distributed ATC Particle Filters for Cooperative Quaternion Tracking

Claudio J. Bordin, Marcelo G. S. Bruno, Stiven S. Dias

Abstract

We propose in this paper two adapt-then-combine (ATC) distributed particle filters for cooperative estimation of 3D orientations. The first algorithm represents rotations as elements of the Special Orthogonal Group and builds Gaussian parametric approximations on a Lie Algebra to fuse posterior probability densities. The second algorithm, in turn, represents the orientations as unit-norm quaternions and resorts to directional statistics, fusing von Mises-Fisher parametric approximations. The proposed algorithms performances are then evaluated via numerical simulations.

BibTeX

@inproceedings{icassp2025_distributedatcpa,
  title = {Distributed ATC Particle Filters for Cooperative Quaternion Tracking},
  author = {Claudio J. Bordin and Marcelo G. S. Bruno and Stiven S. Dias},
  booktitle = {ICASSP 2025},
  year = {2025}
}