A Serial Approach to Handling High-Dimensional Measurements in the Sigma-Point Kalman Filter
Bibliographic record
Abstract
Pose estimation is a critical skill in mobile robotics and is often accomplished using onboard sensors and a Kalman filter estimation technique.For systems to run online, computational efficiency of the filter design is crucial, especially when faced with limited computing resources.In this paper, we present a novel approach to serially process high-dimensional measurements in the Sigma-Point Kalman Filter (SPKF), in order to achieve a low computational cost that is linear is the measurement dimension.Although the concept of serially processing measurements has been around for quite some time in the context of the Extended Kalman Filter (EKF), few have considered this approach with the SPKF.At first glance, it may be tempting to apply the SPKF update step serially.However, we prove that without re-drawing sigma points, this 'naive' approach cannot guarantee the positive-definiteness of the state covariance matrix (not the case for the EKF).We then introduce a novel method for the Sigma-Point Kalman Filter to process high-dimensional, uncorrelated measurements serially that is algebraically equivalent to processing the measurements in parallel, but still achieves a computational cost linear in the measurement dimension.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.002 | 0.006 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.001 | 0.001 |
| Scholarly communication | 0.001 | 0.003 |
| Open science | 0.001 | 0.002 |
| Research integrity | 0.001 | 0.003 |
| Insufficient payload (model declined to judge) | 0.003 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".