Multimodal Sensor Fusion with Differentiable Filters
Michelle A. Lee,Brent Yi,Roberto Martín-Martín,Silvio Savarese,Jeannette Bohg,Michelle A. Lee,Brent Yi,Roberto Martín-Martín,Silvio Savarese,Jeannette Bohg
Leveraging multimodal information with recursive Bayesian filters improves performance and robustness of state estimation, as recursive filters can combine different modalities according to their uncertainties. Prior work has studied how to optimally fuse different sensor modalities with analytical state estimation algorithms. However, deriving the dynamics and measurement models along with their ...
