The development process of high fidelity SLAM systems depends on their validation upon
reliable datasets. Towards this goal, we propose IBISCape, a simulated benchmark that …

The invariant extended Kalman filter (IEKF) is proven to preserve the observability property
of visual-inertial navigation systems (VINS) and suitable for consistent estimator design …

Robust multisensor fusion of multi-modal measurements such as IMUs, wheel encoders,
cameras, LiDARs, and GPS holds great potential due to its innate ability to improve …

Co-design and integration of vehicle navigation and control and state estimation is key for
enabling field deployment of mobile robots in GPS-denied cluttered environments, and …

Autonomous robots, for example, self-driving cars, are often equipped with a set of
heterogeneous sensors of different sensing modalities for estimation and perception. To …