EnDKF combines ensemble Kalman filtering with directional statistics and unit quaternions to achieve lower pose tracking error than raw measurements in synthetic constant-velocity tests and FoundationPose-based head tracking.
Non-identity measure- ment models for orientation estimation based on directional statistics
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Pose Tracking with a Foundation Pose Model and an Ensemble Directional Kalman Filter
EnDKF combines ensemble Kalman filtering with directional statistics and unit quaternions to achieve lower pose tracking error than raw measurements in synthetic constant-velocity tests and FoundationPose-based head tracking.