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dc.contributor.authorKaess, Michael
dc.contributor.authorWilliams, Stephen
dc.contributor.authorIndelman, Vadim
dc.contributor.authorRoberts, Richard
dc.contributor.authorLeonard, John Joseph
dc.contributor.authorDellaert, Frank
dc.date.accessioned2013-06-06T20:39:01Z
dc.date.available2013-06-06T20:39:01Z
dc.date.issued2012-07
dc.identifier.isbn978-0-9824438-4-2
dc.identifier.isbn978-1-4673-0417-7
dc.identifier.otherINSPEC Accession Number: 12965807
dc.identifier.urihttp://hdl.handle.net/1721.1/79077
dc.description.abstractThis paper presents a novel algorithm for integrating real-time filtering of navigation data with full map/trajectory smoothing. Unlike conventional mapping strategies, the result of loop closures within the smoother serve to correct the real-time navigation solution in addition to the map. This solution views filtering and smoothing as different operations applied within a single graphical model known as a Bayes tree. By maintaining all information within a single graph, the optimal linear estimate is guaranteed, while still allowing the filter and smoother to operate asynchronously. This approach has been applied to simulated aerial vehicle sensors consisting of a high-speed IMU and stereo camera. Loop closures are extracted from the vision system in an external process and incorporated into the smoother when discovered. The performance of the proposed method is shown to approach that of full batch optimization while maintaining real-time operation.en_US
dc.description.sponsorshipUnited States. Air Force Research Laboratory (contract FA8650- 11-C-7137)en_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineersen_US
dc.relation.isversionofhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6289957en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alike 3.0en_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/3.0/en_US
dc.sourceMIT web domainen_US
dc.titleConcurrent filtering and smoothingen_US
dc.typeArticleen_US
dc.identifier.citationKaess, Michael, Stephen Williams, Vadim Indelman, Richard Roberts, John J. Leonard, and Frank Dellaert. "Concurrent Filtering and Smoothing." In 2012 15th International Conference on Information Fusion (FUSION), 9-12 July 2012, Singapore. p.1300-1307en_US
dc.contributor.departmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratoryen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.contributor.mitauthorKaess, Michaelen_US
dc.contributor.mitauthorLeonard, John Josephen_US
dc.relation.journalProceedings of the 2012 15th International Conference on Information Fusion (FUSION)en_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dspace.orderedauthorsKaess, Michael; Williams, Stephen; Indelman, Vadim; Roberts, Richard; Leonard, John J.; Dellaert, Franken_US
dc.identifier.orcidhttps://orcid.org/0000-0002-8863-6550
mit.licenseOPEN_ACCESS_POLICYen_US
mit.metadata.statusComplete


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