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cs.RO2024
An Observability-Constrained Magnetic Field-Aided Inertial Navigation System -- Extended Version
Chuan Huang, Gustaf Hendeby, Isaac Skog
Maintaining consistent uncertainty estimates in localization systems is crucial as the perceived uncertainty commonly affects high-level system components, such as control or decis…
cs.RO2024
Bayesian Simultaneous Localization and Multi-Lane Tracking Using Onboard Sensors and a SD Map
Yuxuan Xia, Erik Stenborg, Junsheng Fu +1
High-definition map with accurate lane-level information is crucial for autonomous driving, but the creation of these maps is a resource-intensive process. To this end, we present…
cs.RO2024
MAINS: A Magnetic Field Aided Inertial Navigation System for Indoor Positioning
Chuan Huang, Gustaf Hendeby, Hassen Fourati +2
A Magnetic field Aided Inertial Navigation System (MAINS) for indoor navigation is proposed in this paper. MAINS leverages an array of magnetometers to measure spatial variations i…