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检索条件"主题词=Factor Graph Optimization"
92 条 记 录,以下是1-10 订阅
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factor graph optimization for Real-time Positioning in Unmanned Driving  10
Factor Graph Optimization for Real-time Positioning in Unman...
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10th International Conference on Control, Automation and Robotic (ICCAR)
作者: Huang, Yihan Lu, Zhiyu Liu, Qinyang Bai, Siqi Yin, Yue Gao, Zhilin Nanjing Normal Univ Sch Elect & Automat Engn Nanjing Peoples R China
Global navigation satellite systems (GNSS) have made significant advancements in recent years, allowing for free access and the provision of more dependable services. However, the conventional method produces erroneou... 详细信息
来源: 评论
Tightly-coupled LiDAR-IMU-wheel odometry with an online neural kinematic model learning via factor graph optimization
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ROBOTICS AND AUTONOMOUS SYSTEMS 2025年 187卷
作者: Okawara, Taku Koide, Kenji Oishi, Shuji Yokozuka, Masashi Banno, Atsuhiko Uno, Kentaro Yoshida, Kazuya Tohoku Univ Grad Sch Engn Dept Aerosp Engn Space Robot Lab Sendai Miyagi Japan Natl Inst Adv Ind Sci & Technol AIST Tsukuba Ibaraki Japan
Environments lacking geometric features (e.g., tunnels and long straight corridors) are challenging for LiDARbased odometry algorithms because LiDAR point clouds degenerate in such environments. For wheeled robots, a ... 详细信息
来源: 评论
MOVRO2: Loosely coupled monocular visual radar odometry using factor graph optimization
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ROBOTICS AND AUTONOMOUS SYSTEMS 2025年 184卷
作者: Stironja, Vlaho-Josip Persic, Juraj Petrovic, Luka Markovic, Ivan Petrovic, Ivan Univ Zagreb Fac Elect Engn & Comp Lab Autonomous Syst & Mobile Robot LAMOR Unska 3 HR-10000 Zagreb Croatia Calirad Doo Augusta Harambasica 4 HR-10000 Zagreb Croatia
Ego-motion estimation is an indispensable part of any autonomous system, especially in scenarios where wheel odometry or global pose measurement is unreliable or unavailable. In an environment where a global navigatio... 详细信息
来源: 评论
IFAL-SLAM: an approach to inertial-centered multi-sensor fusion, factor graph optimization, and adaptive Lagrangian method
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MEASUREMENT SCIENCE AND TECHNOLOGY 2025年 第1期36卷 016336-016336页
作者: Liu, Jiaming Qi, Yongsheng Yuan, Guoshuai Liu, Liqiang Li, Yongting Inner Mongolia Univ Technol IMUT Sch Elect Power Hohhot 010080 Inner Mongolia Peoples R China Higher Educ Smart Energy Technol & Equipment Engn Hohhot 010080 Inner Mongolia Peoples R China Engn Res Ctr Large Scale Energy Storage Technol Minist Educ Hohhot 010080 Inner Mongolia Peoples R China
In response to the issues of low accuracy, perception degradation, and poor reliability of single-sensor simultaneous localization and mapping (SLAM) technologies in complex environments, this study presents a novel I... 详细信息
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A robust factor graph optimization method of GNSS/INS/ODO integrated navigation system for autonomous vehicle
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MEASUREMENT SCIENCE AND TECHNOLOGY 2025年 第1期36卷 016301-016301页
作者: Huo, Zhen Jin, Lisheng Wang, Huanhuan Sun, Xinyu He, Yang Yanshan Univ Sch Vehicle & Energy Qinhuangdao 066004 Peoples R China Yanshan Univ Hebei Key Lab Special Delivery Equipment Qinhuangdao 066004 Peoples R China
The GNSS/INS/ODO integrated navigation system provides accurate positioning for autonomous vehicles. However, the observation quality of GNSS and ODO can decrease in complex environments and various driving conditions... 详细信息
来源: 评论
Toward Robust GNSS Real-Time Orbit Determination for Microsatellites Using factor graph optimization
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REMOTE SENSING 2025年 第7期17卷 1125-1125页
作者: Hou, Cong Jin, Xiaojun Yang, Xiaopeng Xiao, Tong Zhejiang Univ Sch Aeronaut & Astronaut Huanjiang Lab Hangzhou 310027 Peoples R China Zhejiang Univ Microsatellite Res Ctr Hangzhou 310027 Peoples R China Key Lab Micronano Satellite Res Zhejiang Prov Hangzhou 310027 Peoples R China
Extended Kalman Filter (EKF) is extensively employed in Global Navigation Satellite System (GNSS)-based real-time orbit determination (RTOD) for microsatellites due to its low complexity. However, the performance of E... 详细信息
来源: 评论
Neural Network Aided factor graph optimization for Collaborative Pedestrian Navigation
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IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS 2024年 第1期25卷 303-314页
作者: Wang, Mingxi Li, Leilei Liu, Jingbin Chen, Ruizhi Chongqing Univ Coll Aerosp Engn Chongqing 400044 Peoples R China China State Shipbuilding Corp Lab Sci & Technol Marine Nav & Control Tianjin 300131 Peoples R China Wuhan Univ State Key Lab Informat Engn Surveying Mapping & Re Wuhan 430079 Peoples R China
Indoor navigation and positioning services for pedestrians are challenging because of the lack of satellite signals and the unpredictability of pedestrian motion. The inertial measurement unit (IMU)-based pedestrian d... 详细信息
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PPP ambiguity resolution based on factor graph optimization
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GPS SOLUTIONS 2024年 第4期28卷 178页
作者: Xiao, Guorui Yang, Cheng Wei, Haopeng Xiao, Zhengyang Zhou, Peiyuan Li, Peigong Dai, Qing Zhang, Baoxiang Yu, Chaoqun Chinese Acad Surveying & Mapping Beijing 100036 Peoples R China Informat Engn Univ Zhengzhou 450052 Peoples R China China Univ Geosci Beijing Beijing 100083 Peoples R China Luoyang Polytech Luoyang 471000 Peoples R China
factor graph optimization has been widely used for state estimation in robotic SLAM community. Extensive algorithms have been proposed for camera/LiDAR/INS based SLAM. However, GNSS positioning based on factor graph o... 详细信息
来源: 评论
An Improved Inertial Preintegration Model in factor graph optimization for High Accuracy Positioning of Intelligent Vehicles
IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
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IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 2024年 第1期9卷 1641-1653页
作者: Zhang, Liang Wen, Weisong Hsu, Li-Ta Zhang, Tao Southeast Univ Sch Instrument Sci Engn Key Lab Microinertial Instrument & Adv Nav Techn Minist Educ Nanjing 210096 Peoples R China Hong Kong Polytech Univ Dept Aeronaut Aviat Engn Hong Kong Peoples R China
Accurate and reliable positioning is of great importance for the realization of intelligent vehicles (IV). factor graph optimization (FGO) has been popularized in the field of robotics for state estimation. As a ubiqu... 详细信息
来源: 评论
Decimeter-Level Indoor Localization Using WiFi Round-Trip Phase and factor graph optimization
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IEEE JOURNAL ON SELECTED AREAS IN COMMUNICATIONS 2024年 第1期42卷 177-191页
作者: Shi, Fangzhan Li, Wenda Tang, Chong Fang, Yuan Brennan, Paul V. Chetty, Kevin UCL Dept Secur & Crime Sci London WC1E 6BT England Univ Dundee Dept Biomed Engn Dundee DD1 4HN Scotland UCL Dept Elect & Elect Engn London WC1E 6BT England
Indoor localization using WiFi signals has been studied since the emergence of WiFi communication. This paper presents a novel training-free approach to indoor localization using a customized WiFi protocol for data co... 详细信息
来源: 评论