Thesis
Multisensor fusion for state estimation via factor graphs
- Abstract:
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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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Authors
Contributors
+ Fallon, M
Division:
MPLS
Department:
Engineering Science
Sub department:
Engineering Science
Role:
Supervisor
Funding
+ Royal Society
More from this funder
Programme:
Studentship
Funding agency for:
Wisth, D
Grant:
RGF\EA\180258
Funder identifier:
http://dx.doi.org/10.13039/501100000288
+ Department of Engineering Science, University of Oxford
More from this funder
Programme:
Studentship
Grant:
EC THING 780883
Bibliographic Details
- Type of award:
- DPhil
- Level of award:
- Doctoral
- Awarding institution:
- University of Oxford
Item Description
- Language:
- English
- Keywords:
- Subjects:
- Deposit date:
- 2022-04-17
Related Items
Terms of use
- Copyright holder:
- Wisth, D
- Copyright date:
- 2021
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