Adaptive compensation of measurement delays in multi-sensor fusion for inertial motion tracking using moving horizon estimation

Robust and accurate pose estimation of moving systems is a challenging task that is often tackled by combining information from different sensor subsystems in a multi-sensor fusion setup. To obtain robust and accurate estimates, it is crucial to respect the exact time of each measurement. Data fusion is additionally challenged when the...

Towards in-field and online calibration of inertial navigation systems using moving horizon estimation

Inertial sensors are used in an increasing number of autonomous applications. Integrating such sensors into dynamic systems, the problem of their calibration arises naturally. Existing methods often require the sensor to be accurately placed in certain poses, which can be infeasible in practice. In this paper, we present an optimization-based...