R. Siegwart

When Your State Estimator Has Lost The Plot: Detecting Estimator Failures Via Spectral Analysis

Reliable onboard state estimation is essential for safe robotic operation, yet unmodeled disturbances, such as sensor aliasing or out-of-distribution noise, still cause estimators to degrade or fail completely. While many methods aim to improve estimator robustness, only a few provide introspective mechanisms to assess...