Maximum Correntropy Criterion Kalman Filter For Indoor Quadrotor Navigation Under Intermittent Measurements

We present a multisensor fusion framework for the onboard real-time navigation of a quadrotor in an indoor environment. The framework integrates sensor readings from an Inertial Measurement Unit (IMU), a camera-based object detection algorithm, and an Ultra-WideBand (UWB) localisation system. Often...

Ausführliche Beschreibung

Bibliographische Detailangaben

Veröffentlicht in:	arXiv.org 2023-03
Hauptverfasser:	Hadjiloizou, Loizos, Makridis, Evagoras, Charalambous, Themistoklis, Deliparaschos, Kyriakos M
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Criteria Indoor environments Indoor navigation Inertial platforms Kalman filters Multisensor fusion Object recognition Performance enhancement Performance evaluation Pose estimation Sensors Ultrawideband
Online-Zugang:	Volltext
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!