61 citations · 81 across the 14 of their papers we have counts for
4 papers · 1 filter
Range-Visual-Inertial Sensor Fusion for Micro Aerial Vehicle Localization and Navigation
Abhishek Goudar, Wenda Zhao, Angela P. Schoellig
We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization.…
Optimal Initialization Strategies for Range-Only Trajectory Estimation
Abhishek Goudar, Frederike Dümbgen, Timothy D. Barfoot +1
Range-only (RO) pose estimation involves determining a robot's pose over time by measuring the distance between multiple devices on the robot, known as tags, and devices installed…
Uncertainty-aware Gaussian Mixture Model for UWB Time Difference of Arrival Localization in Cluttered Environments
Wenda Zhao, Abhishek Goudar, Mingliang Tang +2
Ultra-wideband (UWB) time difference of arrival(TDOA)-based localization has emerged as a low-cost and scalable indoor positioning solution. However, in cluttered environments, the…
Continuous-Time Range-Only Pose Estimation
Abhishek Goudar, Timothy D. Barfoot, Angela P. Schoellig
Range-only (RO) localization involves determining the position of a mobile robot by measuring the distance to specific anchors. RO localization is challenging since the measurement…