Dirk Abel — accepted AI-conference papers

2023

CIOT: Constraint-Enhanced Inertial-Odometric Tracking for Articulated Dump Trucks in GNSS-Denied Mining Environments

David Benz, Jonathan Weseloh, Dirk Abel, Heike Vallery

ICRA 2023poster

The ongoing electrification in all domains relies on strong increase in raw material extraction. Autonomous dump trucks are key to facilitating this. The automation requires the development of new localization approaches, as deep open-pit mines are challenging for satellite-based localization system…

Cited by 8 Source ↗Scholar ↗

2022

Continuous-Time Factor Graph Optimization for Trajectory Smoothness of GNSS/INS Navigation in Temporarily GNSS-Denied Environments

Haoming Zhang, Xiao Xia, Maximilian Nitsch, Dirk Abel

RA-L 2022

For autonomous systems, the smoothness of estimated trajectories is essential to ensure robust and performant vehicle control. Unfortunately, approaches for state estimation using Kalman filters are sensitive to measurement outliers that can diverge dramatically. We propose a state-estimation algori

Cited by 29 Source ↗Scholar ↗