Title:
Fast 3D Pose Estimation With Out-of-Sequence Measurements
Fast 3D Pose Estimation With Out-of-Sequence Measurements
Author(s)
Ranganathan, Ananth
Kaess, Michael
Dellaert, Frank
Kaess, Michael
Dellaert, Frank
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Abstract
We present an algorithm for pose estimation
using fixed-lag smoothing. We show that fixed-lag smoothing
enables inclusion of measurements from multiple asynchronous
measurement sources in an optimal manner. Since robots
usually have a plurality of uncoordinated sensors, our algorithm
has an advantage over filtering-based estimation algorithms,
which cannot incorporate delayed measurements optimally. We
provide an implementation of the general fixed-lag smoothing
algorithm using square root smoothing, a technique that has
recently become prominent. Square root smoothing uses fast
sparse matrix factorization and enables our fixed-lag pose
estimation algorithm to run at upwards of 20 Hz. Our algorithm
has been extensively tested over hundreds of hours of operation
on a robot operating in outdoor environments. We present
results based on these tests that verify our claims using wheel
encoders, visual odometry, and GPS as sensors.
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Date Issued
2007-10
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Text
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Post-print
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Proceedings