Title :
Fusion of dependent information in posegraphs
Author :
Julier, Simon J.
Author_Institution :
Dept. of Comput. Sci., Univ. Coll. London, London, UK
Abstract :
In this paper, we consider the problem of fusing measurements which contain correlated noises within posegraph-based formulations of filtering and estimation problems. We develop a formulation of the Weighted Geometric Density (WGD) fusion algorithm, a generalisation of Covariance Intersection (CI), for posegraphs. We show that this form can generate covariance consistent estimates. We propose two methods for computing the weighting parameters by maximising the information or maximising the likelihood.
Keywords :
covariance analysis; graph theory; maximum likelihood estimation; WGD fusion algorithm; Weighted Geometric Density; correlated noises; covariance consistent estimates; covariance intersection; dependent information; estimation problems; filtering; fusing measurements; generalisation; posegraph-based formulations; posegraphs; Computational modeling; Covariance matrix; Equations; Maximum likelihood estimation; Noise; Optimization;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems (MFI), 2012 IEEE Conference on
Conference_Location :
Hamburg
Print_ISBN :
978-1-4673-2510-3
Electronic_ISBN :
978-1-4673-2511-0
DOI :
10.1109/MFI.2012.6343052
