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On the projective geometry of kalman filter

Carli, FP and Sepulchre, R (2015) On the projective geometry of kalman filter. In: UNSPECIFIED pp. 2420-2425..

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Convergence of the Kalman filter is best analyzed by studying the contraction of the Riccati map in the space of positive definite (covariance) matrices. In this paper, we explore how this contraction property relates to a more fundamental non-expansiveness property of filtering maps in the space of probability distributions endowed with the Hilbert metric. This is viewed as a preliminary step towards improving the convergence analysis of filtering algorithms over general graphical models.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:12
Last Modified: 08 Jul 2021 06:45
DOI: 10.1109/CDC.2015.7402570