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Wrench-Based Bayesian Pose Estimation via Matrix--Fisher Gaussian Inference
In this paper, a residual-safeguarded local Matrix Fisher--Gaussian (MFG) inference method is developed for wrench-based pose estimation on $\mathrm{SO}(3)\times\mathbb{R}^3$. The force/torque measurements are modeled by a quasi-static contact system in which the predicted wrench depends on the unkn
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