Browsing CSAIL Work Products by Author "Fourie, Dehann"
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Multi-modal and Inertial sensor Solutions for Navigation-type Factor Graphs
Fourie, Dehann (MIT, 2017-08-31)This thesis presents a sum-product inference algorithm for platform navigation called Multi-modal iSAM (incremental smoothing and mapping). Common Gaussian only likelihoods are restrictive and require a complex front-end ...