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Thesis

Multisensor fusion for state estimation via factor graphs

Abstract:

State estimation is a fundamental requirement for mobile robots. An accurate and robust estimate of a platform’s location and environment is a key input for many other robot systems, including control, navigation, and task planning.

The aim of this thesis is to develop a state estimation system based on probabilistic factor graph optimisation. The proposed algorithm is called VILENS (Visual Inertial Lidar Legged Navigation System). It uses different combinations of camera, lidar, i...

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Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Sub department:
Engineering Science
Research group:
Dynamic Robot Systems Group, Oxford Robotics Institute
Oxford college:
St Hugh's College
Role:
Author
ORCID:
0000-0002-2108-5184

Contributors

Division:
MPLS
Department:
Engineering Science
Sub department:
Engineering Science
Role:
Supervisor
More from this funder
Programme:
Studentship
Funding agency for:
Wisth, D
Grant:
RGF\EA\180258
Type of award:
DPhil
Level of award:
Doctoral
Awarding institution:
University of Oxford

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