Continuous-Time Ultra-Wideband-Inertial Fusion
Kailai Li, Ziyu Cao, Uwe D. Hanebeck
Abstract
We introduce a novel framework of continuous-time ultra-wideband-inertial sensor fusion for online motion estimation. Quaternion-based cubic cumulative B-splines are exploited for parameterizing motion states continuously over time. Systematic derivations of analytic kinematic interpolations and spatial differentiations are further provided. Based thereon, a new sliding-window spline fitting scheme is established for asynchronous multi-sensor fusion and online calibration. We conduct a dedicated validation of the quaternion spline fitting method, and evaluate the proposed system, SFUISE (spline fusion-based ultra-wideband-inertial state estimation), in real-world scenarios using public data set and experiments. The proposed sensor fusion system is real-time capable and delivers superior performance over state-of-the-art discrete-time schemes. We release the source code and own experimental data at <uri xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">https://github.com/KIT-ISAS/SFUISE</uri> .
BibTeX
@inproceedings{ral2023_continuoustimeul,
title = {Continuous-Time Ultra-Wideband-Inertial Fusion},
author = {Kailai Li and Ziyu Cao and Uwe D. Hanebeck},
booktitle = {RA-L 2023},
year = {2023}
}