Constantin Wellhausen

SAAB Group | SAAB

Estimating the state of a system by fusing sensor data is a major prerequisite in many applications. When the state is time-variant, derivatives of the Kalman filter are a popular choice for solving that task. Two variants are the square-root unscented Kalman filter (SRUKF) and the square-root cubature Kalman filter (SCKF). In contrast to the unsce...

Control, tracking, and obstacle detection algorithms for mobile robots, including autonomous cars, rely on a jump-free estimate of the vehicle's pose. While one cannot completely avoid jumps in global solutions like INS/GNSS and SLAM, relative localization (i.e., odometry) does not suffer from this problem. Methods based on graph optimization are p...