Tracking articulated objects

A system comprising:

• one or more processors;
• and
• memory storing processor-executable instructions that, when executed by the one or more processors, cause the system to perform operations comprising:
• receiving state information for a first portion of an articulated object and for a second portion of an articulated object;
• determining, based at least in part on the state information and a first model constrained according to a first pseudo-observable, a first predicted state of the first portion of the articulated object;
• determining, based at least in part on the state information and a second model constrained according to a second pseudo-observable, a second predicted state of the second portion of the articulated object;
• and
• determining, based at least in part on the first predicted state and the second predicted state, an updated state of the articulated object.

One or more non-transitory computer readable media storing instructions that, when executed by one or more processors, cause a computing device to perform operations comprising:

• determining, using a first model and a state of an articulated object, a first predicted state of a first segment of the articulated object;
• determining, using a second model and the state of the articulated object, a second predicted state of a second segment of the articulated object;
• determining, based at least in part on the first predicted state and the second predicted state, a predicted state of the articulated object;
• receiving sensor data;
• generating, based at least in part on the sensor data, a measured state of the articulated object;
• determining an error between the predicted state of the articulated object and the measured state of the articulated object;
• determining, based at least in part on the error, an updated state of the articulated object;
• and
• controlling, based at least in part on the updated state of the articulated object, an autonomous vehicle to navigate relative to the articulated object.