Urban localization using robust filtering at multiple linearization points

Abstract We propose a robust Bayesian filtering framework for state and multi-modal uncertainty estimation in urban settings by fusing diverse sensor measurements. Our framework addresses multi-modal uncertainty from various error sources by tracking a separate probability distribution for lineariza...

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Autores principales:	Shubh Gupta, Adyasha Mohanty, Grace Gao
Formato:	Artigo
Lenguaje:	Inglês
Publicado:	SpringerOpen 2023-10-01
Colección:	EURASIP Journal on Advances in Signal Processing
Materias:	GNSS Camera Multi-sensor Multi-modal uncertainty Bayesian filtering Robust estimation
Acceso en línea:	https://doi.org/10.1186/s13634-023-01062-7
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