ICS: Incremental Constrained Smoothing for State Estimation
Paloma Sodhi,Sanjiban Choudhury,Joshua G. Mangelson,Michael Kaess,Paloma Sodhi,Sanjiban Choudhury,Joshua G. Mangelson,Michael Kaess
A robot operating in the world constantly receives information about its environment in the form of new measurements at every time step. Smoothing-based estimation methods seek to optimize for the most likely robot state estimate using all measurements up till the current time step. Existing methods solve for this smoothing objective efficiently by framing the problem as that of incremental uncons...
