A discrete quaternion filtering algorithm following high-density uncertainty matching-based
deterministic sampling scheme is proposed for IMU attitude estimation. Existing quaternion …

We present a novel deterministic sampling approach for von Mises–Fisher distributions of
arbitrary dimensions. Following the idea of the unscented transform, samples of configurable …

We propose a novel scheme for efficient Dirac mixture modeling of distributions on unit
hyperspheres. A so-called hyperspherical localized cumulative distribution (HLCD) is …

Uncertainty quantification and state estimation of random variables in directional domains
play important roles in ubiquitous application scenarios, in particular, robotic perception …

We present a novel nonparametric scheme for modeling circular random variables. For that,
the circular Cramer-von Mises distance (CCvMD) is proposed to measure the statistical …

Determining orientation is a fundamental problem in fields such as robotics, computer vision,
and autonomous driving. In three-dimensional space, orientations can be represented in …

A recursively indirect quaternion estimator based on the Gaussian particle filter (GPF) is
proposed for nonlinear attitude estimation. The key idea is to estimate an on-tangent-plane …

We propose a method for deterministic sampling of arbitrary continuous angular probability
density functions. With deterministic sampling, good estimation results can be obtained with …