Analytic Moment-based Gaussian Process Filtering

Analytic Moment-based Gaussian Process Filtering

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by Marc Peter Deisenroth , Marco F. Huber , Uwe D. Hanebeck

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BibTeX

@MISC{Deisenroth_analyticmoment-based,
    author = {Marc Peter Deisenroth and Marco F. Huber and Uwe D. Hanebeck},
    title = {Analytic Moment-based Gaussian Process Filtering},
    year = {}
}

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Abstract

We propose an analytic moment-based filter for nonlinear stochastic dynamic systems modeled by Gaussian processes. Exact expressions for the expected value and the covariance matrix are provided for both the prediction step and the filter step, where an additional Gaussian assumption is exploited in the latter case. Our filter does not require further approximations. In particular, it avoids finite-sample approximations. We compare the filter to a variety of Gaussian filters, that is, the EKF, the UKF, and the recent GP-UKF proposed by Ko et al. (2007). 1.

Citations

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