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cs.RO2024
Efficient Invariant Kalman Filter for Inertial-based Odometry with Large-sample Environmental Measurements
Xinghan Li, Haoying Li, Guangyang Zeng +4
A filter for inertial-based odometry is a recursive method used to estimate the pose from measurements of ego-motion and relative pose. Currently, there is no known filter that gua…
cs.RO2022
Observability Analysis of Graph SLAM-Based Joint Calibration of Multiple Microphone Arrays and Sound Source Localization
Yuanzheng He, Jiang Wang, Daobilige Su +5
Multiple microphone arrays have many applications in robot audition, including sound source localization, audio scene perception and analysis, etc. However, accurate calibration of…