Factor graph based incremental smoothing in inertial navigation systems

Vadim Indelman, Stephen Williams, Michael Kaess, Frank Dellaert

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper describes a new approach for information fusion in inertial navigation systems. In contrast to the commonly used filtering techniques, the proposed approach is based on a non-linear optimization for processing incoming measurements from the inertial measurement unit (IMU) and any other available sensors into a navigation solution. A factor graph formulation is introduced that allows multi-rate, asynchronous, and possibly delayed measurements to be incorporated in a natural way. This method, based on a recently developed incremental smoother, automatically determines the number of states to recompute at each step, effectively acting as an adaptive fixed-lag smoother. This yields an efficient and general framework for information fusion, providing nearly-optimal state estimates. In particular, incoming IMU measurements can be processed in real time regardless to the size of the graph. The proposed method is demonstrated in a simulated environment using IMU, GPS and stereo vision measurements and compared to the optimal solution obtained by a full non-linear batch optimization and to a conventional extended Kalman filter (EKF).

Original languageEnglish
Title of host publication15th International Conference on Information Fusion, FUSION 2012
Pages2154-2161
Number of pages8
StatePublished - 2012
Event15th International Conference on Information Fusion, FUSION 2012 - Singapore, Singapore
Duration: 7 Sep 201212 Sep 2012

Publication series

Name15th International Conference on Information Fusion, FUSION 2012

Conference

Conference15th International Conference on Information Fusion, FUSION 2012
Country/TerritorySingapore
CitySingapore
Period7/09/1212/09/12

Keywords

  • Navigation
  • factor graph
  • filtering
  • information fusion

All Science Journal Classification (ASJC) codes

  • Information Systems

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