I am fascinated by distributed computation. Distributed computation concepts could be applied to the acoustic tracker and others. In addition, the ideas can expand to mobile computing. Here is reading list of different ideas.

Filters

• Condensation KF goes beyond normal distributions. Possible answer to non-linear peak detection. Original paper. Using the Condensation Algorithm to Implement Tracking for Mobile Robots. Tracking Cars in Range Images Using the Condensation Algorithm 

The condensation KF is a KF that tracks a spline curve in the prescene of clutter. The filter uses sampling techniques to track the curve.
• Unscented KF -- refered to by Simon Julier ONR. Examples

Uses a dterministic sampling approach. Tech Report with details.
• Federated KF

Combines the results of several independently executing KFs. The requirement is that the state maintained is weakly related or not at all.
• KF matlab simulation. Non-linear example with acoustic tracker measuring distance.
• Wiener filter: offline analog to KF. KF adv. is online computation.
• Santa barbara perception African Ant path integration
• federated filters Thesis
• Gao, Y., Krakiwsky, E.J., Abousalem, M., and McLellan, J.F. (1993). Comparison and Analysis of Centralized, Decentralized and Federated Filters, Navigation, Journal of the Institute of Navigation, Vol. 40, No. 1, pp. 69-86. reference
• Other filters of interest suggested by Mark Livingston: Covariance Intersection, recursive total least square estimation.
• Ulrich Neumann at USC

Distributed estimation

• Data Fusion in Decentralised Sensing Networks.
• Data Compression - Quantization for Distributed Estimation 
• Distributed Estimation of a Location Parameter in Dependent Noise. 
• Distributed Detection and Estimation (Excellect Summary of research questions)
• Quantization For Distributed Estimation With Communication And Storage Constraints
• Read the interests
• Unscented KF and DE
• UW robotics lab (particle filters)
• Using the condensation algorithm for robust, vision-based mobile robot localization.
• SPIE conference: Sensor Fusion and Decentralized Control in Robotic Systems III

Simon Julier

• A Non-divergent Estimation Algorithm in the Presence of Unknown Correlations
• User Interface Management Techniques for Collaborative Mobile Augmented Reality

Design Issues for an envisioned multi-sensor tracker for tracking computer user’s pose in an office