Factor Graph Fusion of Raw GNSS Sensing with IMU and Lidar for Precise Robot Localization without a Base Station.
Jonas BeuchertMarco CamurriMaurice F. FallonPublished in: ICRA (2023)
Keyphrases
- base station
- robot localization
- factor graphs
- sensor networks
- mobile robot
- sensor fusion
- graphical models
- message passing
- wireless sensor networks
- belief propagation
- wireless networks
- robot navigation
- object recognition
- sensor nodes
- energy consumption
- communication networks
- approximate inference
- ad hoc networks
- simultaneous localization and mapping
- latent variables
- probabilistic inference
- mobile users
- probabilistic graphical models
- topological map
- data fusion
- exact inference
- path planning
- image fusion
- multi sensor
- high resolution
- real time
- sensor data
- stereo matching
- indoor environments
- parameter learning
- dynamic environments
- markov random field
- probabilistic model
- autonomous navigation
- data acquisition
- three dimensional
- computer vision