Continuous-Time Ultra-Wideband-Inertial Fusion
نویسندگان
چکیده
We introduce a novel framework of continuous-time ultra-wideband-inertial sensor fusion for online motion estimation. Quaternion-based cubic cumulative B-splines are exploited parameterizing states continuously over time. Systematic derivations analytic kinematic interpolations and spatial differentiations further provided. Based thereon, new sliding-window spline fitting scheme is established asynchronous multi-sensor calibration. conduct dedicated validation the quaternion method, evaluate proposed system, SFUISE (spline fusion-based state estimation), in real-world scenarios using public data set experiments. The system real-time capable delivers superior performance state-of-the-art discrete-time schemes. release source code own experimental at https://github.com/KIT-ISAS/SFUISE.
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ژورنال
عنوان ژورنال: IEEE robotics and automation letters
سال: 2023
ISSN: ['2377-3766']
DOI: https://doi.org/10.1109/lra.2023.3281932