A GMM-clustered bank of linear models inside an IMM filter gives more consistent NIS statistics for skid-steer angular velocity estimation on ice than a single-model Kalman filter.
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Characterizing gaussian mixture of motion modes for skid-steer vehicle state estimation
A GMM-clustered bank of linear models inside an IMM filter gives more consistent NIS statistics for skid-steer angular velocity estimation on ice than a single-model Kalman filter.