A generic multi-sensor fusion scheme for localization of autonomous platforms using moving horizon estimation

In this paper, a generic multi-sensor fusion framework is developed for the localization of intelligent vehicles and mobile robots. The localization framework is based on moving horizon estimation (MHE). Unlike the commonly used probabilistic filtering algorithms – for example, extended Kalman filte...

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Veröffentlicht in:	Transactions of the Institute of Measurement and Control 2021-11, Vol.43 (15), p.3413-3427
Hauptverfasser:	Osman, Mostafa, Mehrez, Mohamed W, Daoud, Mohamed A, Hussein, Ahmed, Jeon, Soo, Melek, William
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Extended Kalman filter Intelligent vehicles Localization Multisensor fusion Optimization Outliers (statistics) Robots Sensors
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