A comparison of bayesian filters for orientation estimation

Autores
Paz, Claudio; Pérez Paina, Gonzalo; Toloza, Hugo
Año de publicación
2013
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This work presents an empirical study that compares the performance of Bayesian filters for orientation estimation using data provided by an Inertial Measurement Unit. A two-stages measurement update was implemented for different variants of Kalman and particles filters using quaternions as orientation representation method. Empirical results show that all tested algorithms converge to the correct orientation even if the initial orientation is unknown.
Fil: Paz, Claudio. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
Fil: Pérez Paina, Gonzalo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
Fil: Toloza, Hugo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
Peer Reviewed
Materia
Mobile robotics
Position estimation
Orientation estimation
Bayesian filtering
Nivel de accesibilidad
acceso abierto
Condiciones de uso
Attribution-NonCommercial-NoDerivatives 4.0 International
Repositorio
Repositorio Institucional Abierto (UTN)
Institución
Universidad Tecnológica Nacional
OAI Identificador
oai:ria.utn.edu.ar:20.500.12272/13941
Acceder
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network_acronym_str RIAUTN
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network_name_str Repositorio Institucional Abierto (UTN)
spelling A comparison of bayesian filters for orientation estimationPaz, ClaudioPérez Paina, GonzaloToloza, HugoMobile roboticsPosition estimationOrientation estimationBayesian filteringThis work presents an empirical study that compares the performance of Bayesian filters for orientation estimation using data provided by an Inertial Measurement Unit. A two-stages measurement update was implemented for different variants of Kalman and particles filters using quaternions as orientation representation method. Empirical results show that all tested algorithms converge to the correct orientation even if the initial orientation is unknown.Fil: Paz, Claudio. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.Fil: Pérez Paina, Gonzalo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.Fil: Toloza, Hugo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.Peer ReviewedUniversidad Nacional de Río Negro2025-10-11T16:06:29Z2013info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articulopdfapplication/pdfLibro de Actas de la XV Reunión de Trabajo en Procesamiento de la Información y Control.2013978-987-27739-7-7https://hdl.handle.net/20.500.12272/13941enginfo:eu-repo/semantics/openAccessAttribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/Paz, Claudio; Pérez Paina, Gonzalo; Toloza, Hugohttps://creativecommons.org/licenses/by/4.0/reponame:Repositorio Institucional Abierto (UTN)instname:Universidad Tecnológica Nacional2026-09-24T12:46:05Zoai:ria.utn.edu.ar:20.500.12272/13941instacron:UTNInstitucionalhttp://ria.utn.edu.ar/Universidad públicaNo correspondehttp://ria.utn.edu.ar/oaigestionria@rec.utn.edu.ar; fsuarez@rec.utn.edu.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:a2026-09-24 12:46:05.962Repositorio Institucional Abierto (UTN) - Universidad Tecnológica Nacionalfalse
dc.title.none.fl_str_mv A comparison of bayesian filters for orientation estimation
title A comparison of bayesian filters for orientation estimation
spellingShingle A comparison of bayesian filters for orientation estimation
Paz, Claudio
Mobile robotics
Position estimation
Orientation estimation
Bayesian filtering
title_short A comparison of bayesian filters for orientation estimation
title_full A comparison of bayesian filters for orientation estimation
title_fullStr A comparison of bayesian filters for orientation estimation
title_full_unstemmed A comparison of bayesian filters for orientation estimation
title_sort A comparison of bayesian filters for orientation estimation
dc.creator.none.fl_str_mv Paz, Claudio
Pérez Paina, Gonzalo
Toloza, Hugo
author Paz, Claudio
author_facet Paz, Claudio
Pérez Paina, Gonzalo
Toloza, Hugo
author_role author
author2 Pérez Paina, Gonzalo
Toloza, Hugo
author2_role author
author
dc.subject.none.fl_str_mv Mobile robotics
Position estimation
Orientation estimation
Bayesian filtering
topic Mobile robotics
Position estimation
Orientation estimation
Bayesian filtering
dc.description.none.fl_txt_mv This work presents an empirical study that compares the performance of Bayesian filters for orientation estimation using data provided by an Inertial Measurement Unit. A two-stages measurement update was implemented for different variants of Kalman and particles filters using quaternions as orientation representation method. Empirical results show that all tested algorithms converge to the correct orientation even if the initial orientation is unknown.
Fil: Paz, Claudio. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
Fil: Pérez Paina, Gonzalo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
Fil: Toloza, Hugo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
Peer Reviewed
description This work presents an empirical study that compares the performance of Bayesian filters for orientation estimation using data provided by an Inertial Measurement Unit. A two-stages measurement update was implemented for different variants of Kalman and particles filters using quaternions as orientation representation method. Empirical results show that all tested algorithms converge to the correct orientation even if the initial orientation is unknown.
publishDate 2013
dc.date.none.fl_str_mv 2013
2025-10-11T16:06:29Z
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv Libro de Actas de la XV Reunión de Trabajo en Procesamiento de la Información y Control.2013
978-987-27739-7-7
https://hdl.handle.net/20.500.12272/13941
identifier_str_mv Libro de Actas de la XV Reunión de Trabajo en Procesamiento de la Información y Control.2013
978-987-27739-7-7
url https://hdl.handle.net/20.500.12272/13941
dc.language.none.fl_str_mv eng
language eng
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
Paz, Claudio; Pérez Paina, Gonzalo; Toloza, Hugo
https://creativecommons.org/licenses/by/4.0/
eu_rights_str_mv openAccess
rights_invalid_str_mv Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
Paz, Claudio; Pérez Paina, Gonzalo; Toloza, Hugo
https://creativecommons.org/licenses/by/4.0/
dc.format.none.fl_str_mv pdf
application/pdf
dc.publisher.none.fl_str_mv Universidad Nacional de Río Negro
publisher.none.fl_str_mv Universidad Nacional de Río Negro
dc.source.none.fl_str_mv reponame:Repositorio Institucional Abierto (UTN)
instname:Universidad Tecnológica Nacional
reponame_str Repositorio Institucional Abierto (UTN)
collection Repositorio Institucional Abierto (UTN)
instname_str Universidad Tecnológica Nacional
repository.name.fl_str_mv Repositorio Institucional Abierto (UTN) - Universidad Tecnológica Nacional
repository.mail.fl_str_mv gestionria@rec.utn.edu.ar; fsuarez@rec.utn.edu.ar
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score 13.265058

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