.png){kind=icon}
返回
Factor Graphs for Navigation Applications: A Tutorial
.png){kind=icon}
OA
AI
DOI：10.33012/navi.653.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
This tutorial presents the factor graph, a recently introduced estimation framework that is a generalization of the Kalman filter. An approach for con- structing a factor graph, with its associated optimization problem and efficient sparse linear algebra formulation, is described. A comparison with Kalman fil- ters is presented, together with examples of the generality of factor graphs. A brief survey of previous applications of factor graphs to navigation problems is also presented. Source code for the extended Kalman filter comparison and for generating the graphs in this paper is available at https://github.com/cntaylor/ factorGraph2DsatelliteExample .
Keyword:
Bayesian estimation
factor graph
Kalman filter
sensor fusion
期刊
IF:
2
论文数:
554
被引数:
1.6K
机构
引用论文
.png){kind=icon}
Square root SAM: Simultaneous localization and mapping via square root information smoothing平方根SAM: 通过平方根信息平滑同时定位和映射
OAAI
OAAI分享收藏分享收藏
查看更多内容