Multi-modal and Inertial sensor Solutions for Navigation-type Factor Graphs

Multi-modal and Inertial sensor Solutions for Navigation-type Factor Graphs

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This thesis presents a sum-product inference algorithm for platform navigation called Multi-modal iSAM (incremental smoothing and mapping). Common Gaussian only likelihoods are restrictive and require a complex front-end processes to deal with non-Gaussian measurements. Instead, our approach allows...

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Bibliographic Details
Main Author: Fourie, Dehann
Format: Thesis
Language:en_US
Published: MIT 2022
Subjects:
SLAM, robotics, navigation, mapping, localization, factor graph, Bayes tree, non-Gaussian, multi-modal, junction tree, inertial odometry, preintegration, IMU, radar, acoustic, Chapman-Kolmogorov transit integral
Online Access:https://hdl.handle.net/1721.1/145253
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