3 papers
cs.RO2025
Unscented Particle Filter for Visual-inertial Navigation using IMU and Landmark Measurements
Khashayar Ghanizadegan, Hashim A. Hashim
This paper introduces a geometric Quaternion-based Unscented Particle Filter for Visual-Inertial Navigation (QUPF-VIN) specifically designed for a vehicle operating with six degree…
cs.RO2025
DeepUKF-VIN: Adaptively-tuned Deep Unscented Kalman Filter for 3D Visual-Inertial Navigation based on IMU-Vision-Net
Khashayar Ghanizadegan, Hashim A. Hashim
This paper addresses the challenge of estimating the orientation, position, and velocity of a vehicle operating in three-dimensional (3D) space with six degrees of freedom (6-DoF).…
cs.RO2024
Quaternion-based Unscented Kalman Filter for 6-DoF Vision-based Inertial Navigation in GPS-denied Regions
Khashayar Ghanizadegan, Hashim A. Hashim
This paper investigates the orientation, position, and linear velocity estimation problem of a rigid-body moving in three-dimensional (3D) space with six degrees-of-freedom (6 DoF)…