3 accepted papers
Light Detection and Ranging (LiDAR) sensors have become the sensor of choice for many robotic state estimation tasks. Because of this, in recent years there has been significant work done to find the most accurate method to perform state estimation using these sensors. In each of these prior works,
Wheel odometry is not often used in state estimation for off-road vehicles due to frequent wheel slippage, varying wheel radii, and the 3D motion of the vehicle not fitting with the 2D nature of integrated wheel odometry. This letter attempts to overcome these issues by proposing a novel 3D preinteg
Recent advances in the utilization of Lie Groups for robotic localization have led to dramatic increases in the accuracy of estimation and uncertainty characterization. One of the novel methods, the Invariant Extended Kalman Filter (InEKF) extends the Extended Kalman Filter (EKF) by leveraging the f