Publikation: MaRS: A Modular and Robust Sensor-Fusio...
Stammdaten
Titel: | MaRS: A Modular and Robust Sensor-Fusion Framework |
Untertitel: | |
Kurzfassung: | State-of-the-art recursive sensor filtering frameworks allow the fusion of multiple sensors tailored to a specific problem but do not allow a dynamic and efficient introduction of additional sensors during runtime - an important feature to enable long-term missions in dynamic environments. This paper presents a robust, modular sensor-fusion framework that enables the addition and removal of sensors at runtime. These sensors could be not a priori known to the system. The framework handles the complexity of system and sensor initialization, measurement updates, and switching of asynchronous multi-rate sensor information with sensor self-calibration in a truly modular and generic design. In addition, the framework can handle delayed measurements, out-of-sequence updates, and can monitor sensor health. The introduced true-modularity is based on covariance segmentation to allow the isolated (i.e., modular) processing of propagation and updates on a per-sensor basis. We show how crucial properties of the overall state covariance can be maintained as naive implementation of such a modularization would invalidate the covariance matrix. We evaluate our framework for a precision landing scenario switching between combinations of GNSS, barometer, and vision measurements. Tests are performed in simulation and in real-world scenarios to show the validity of the introduced method. The presented framework will be open-sourced and made available online to the community. |
Schlagworte: | Sensor Fusion, State-Estimation, Modularity, Autonomous Navigation |
Publikationstyp: | Beitrag in Zeitschrift (Autorenschaft) |
Erscheinungsdatum: | 11.2020 (Online) |
Erschienen in: |
IEEE Robotics and Automation Letters
IEEE Robotics and Automation Letters
(
IEEE;
S. Mühlbacher-Karrer
)
zur Publikation |
Titel der Serie: | - |
Bandnummer: | - |
Heftnummer: | - |
Erstveröffentlichung: | Ja |
Version: | - |
Seite: | - |
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Keine Version vorhanden |
Erscheinungsdatum: | 11.2020 |
ISBN (e-book): | - |
eISSN: | - |
DOI: | - |
Homepage: | https://ieeexplore.ieee.org/ |
Open Access |
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AutorInnen
Christian Brommer (intern) |
Roland Jung (intern) |
Jan Steinbrener (intern) |
Stephan Michael Weiss (intern) |
Zuordnung
Organisation | Adresse | ||||
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Fakultät für Technische Wissenschaften
Institut für Intelligente Systemtechnologien
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AT - 9020 Klagenfurt am Wörthersee |
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Universität Klagenfurt
Karl Popper Kolleg (Doktorats- und Wissenschaftskolleg)
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AT - A-9020 Klagenfurt |
Kategorisierung
Sachgebiete | |
Forschungscluster | Kein Forschungscluster ausgewählt |
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