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Factor graphs for robot perception
We review the use of factor graphs for the modeling and solving of large-scale inference
problems in robotics. Factor graphs are a family of probabilistic graphical models, other …
problems in robotics. Factor graphs are a family of probabilistic graphical models, other …
Information fusion in navigation systems via factor graph based incremental smoothing
This paper presents a new approach for high-rate information fusion in modern inertial
navigation systems, that have a variety of sensors operating at different frequencies. Optimal …
navigation systems, that have a variety of sensors operating at different frequencies. Optimal …
A Consistent Parallel Estimation Framework for Visual-Inertial SLAM
In this article, we revisit the optimal fusion of visual and inertial information from a monocular
camera and an inertial measurement unit and propose a novel parallel visual-inertial …
camera and an inertial measurement unit and propose a novel parallel visual-inertial …
Constrained optimal selection for multi-sensor robot navigation using plug-and-play factor graphs
This paper proposes a real-time navigation approach that is able to integrate many sensor
types while fulfilling performance needs and system constraints. Our approach uses a plug …
types while fulfilling performance needs and system constraints. Our approach uses a plug …
Robust vision-aided navigation using sliding-window factor graphs
This paper proposes a navigation algorithm that provides a low-latency solution while
estimating the full nonlinear navigation state. Our approach uses Sliding-Window Factor …
estimating the full nonlinear navigation state. Our approach uses Sliding-Window Factor …
Real-Time 3D Map Building in a Mobile Robot System with Low-Bandwidth Communication
This paper presents a new 3D map building technique using a combination of 2D SLAM and
3D objects that can be implemented on relatively low-cost hardware in real-time. Recently …
3D objects that can be implemented on relatively low-cost hardware in real-time. Recently …
Concurrent filtering and smoothing: A parallel architecture for real-time navigation and full smoothing
We present a parallelized navigation architecture that is capable of running in real-time and
incorporating long-term loop closure constraints while producing the optimal Bayesian …
incorporating long-term loop closure constraints while producing the optimal Bayesian …
A Gaussian mixture model smoother for continuous nonlinear stochastic dynamical systems: Theory and scheme
Retrospective inference through Bayesian smoothing is indispensable in geophysics, with
crucial applications in ocean and numerical weather estimation, climate dynamics, and …
crucial applications in ocean and numerical weather estimation, climate dynamics, and …
Incremental light bundle adjustment for robotics navigation
This paper presents a new computationally-efficient method for vision-aided navigation
(VAN) in autonomous robotic applications. While many VAN approaches are capable of …
(VAN) in autonomous robotic applications. While many VAN approaches are capable of …
Multi-modal and inertial sensor solutions for navigation-type factor graphs
D Fourie - 2017 - dspace.mit.edu
This thesis presents a sum-product inference algorithm for platform navigation called Multi-
modal iSAM (incremental smoothing and map**). Common Gaussian only likelihoods are …
modal iSAM (incremental smoothing and map**). Common Gaussian only likelihoods are …