Mainstream statistical methodology is generally applicable to data observed in Euclidean
space. There are, however, numerous contexts of considerable scientific interest in which …

We introduce the unscented von Mises-Fisher filter (UvMFF), a nonlinear filtering algorithm
for dynamic state estimation on the n-dimensional unit hypersphere. Estimation problems on …

The pose (3D position and orientation) of an Unmanned Aerial Vehicle (UAV) during the
landing process aboard a ship can be estimated using a 3D model-based vision system …

This thesis presents a Riemannian approach to Programming by Demonstration (PbD). It
generalizes an existing PbD method from Euclidean manifolds to Riemannian manifolds. In …

This article is dedicated to the design of a linear-circular regression technique and to its
application to ground-based GNSS-Reflectometry (GNSS-R) altimetry. The altimetric …

In this paper, we present libDirectional, a MATLAB library for directional statistics and
directional estimation. It supports a variety of commonly used distributions on the unit circle …

We propose a novel sampling algorithm for the von Mises-Fisher distribution on the unit
hypersphere. Unlike previous works, we show a solution for an arbitrary number of …

In this article, a new probability distribution, referred to as the matrix Fisher–Gaussian
distribution, is proposed on the product manifold of three-dimensional special orthogonal …

Abstract Particle Filters (PFs) have been successfully employed for monocular 3D model-
based tracking of rigid objects. However, these filters depend on the computation of …

A discrete quaternion filtering algorithm following high-density uncertainty matching-based
deterministic sampling scheme is proposed for IMU attitude estimation. Existing quaternion …