Probabilistic modeling for sensor fusion with inertial measurements

In recent years, inertial sensors have undergone major developments. The quality of their measurements has improved while their cost has decreased, leading to an increase in availability. They can ...

[1]  J. Sjöberg Non-Linear System Identification with Neural Networks , 1995 .

[2]  David Q. Mayne,et al.  Constrained state estimation for nonlinear discrete-time systems: stability and moving horizon approximations , 2003, IEEE Trans. Autom. Control..

[3]  Sebastian Thrun,et al.  3-Axis magnetic field mapping and fusion for indoor localization , 2012, 2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI).

[4]  R.L. Moses,et al.  Locating the nodes: cooperative localization in wireless sensor networks , 2005, IEEE Signal Processing Magazine.

[5]  Arno Solin,et al.  Sigma-Point Filtering and Smoothing Based Parameter Estimation in Nonlinear Dynamic Systems , 2015, 1504.06173.

[6]  Alberto Viseras Ruiz,et al.  A general algorithm for exploration with Gaussian processes in complex, unknown environments , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[7]  P. Savage Strapdown Inertial Navigation Integration Algorithm Design Part 1: Attitude Algorithms , 1998 .

[8]  Malcolm D. Shuster,et al.  The TRIAD algorithm as maximum likelihood estimation , 2006 .

[9]  S. Ljung Fast Algorithms for Integral Equations and Least Squares Identification Problems , 1983 .

[10]  Thomas B. Schön,et al.  Magnetometer Calibration Using Inertial Sensors , 2016, IEEE Sensors Journal.

[11]  Robert H. Halstead,et al.  Matrix Computations , 2011, Encyclopedia of Parallel Computing.

[12]  Jian Dai,et al.  Self-localization of an autonomous maneuverable nonholonomic mobile robot using a hybrid double-compass configuration , 2010, 7th International Symposium on Mechatronics and its Applications.

[13]  K. Edström Switched Bond Graphs : Simulation and Analysis , 1999 .

[14]  Valérie Renaudin,et al.  Complete Triaxis Magnetometer Calibration in the Magnetic Domain , 2010, J. Sensors.

[15]  Niklas Wahlstrom,et al.  Modeling of Magnetic Fields and Extended Objects for Localization Applications , 2015 .

[16]  Christian P. Robert,et al.  Statistics for Spatio-Temporal Data , 2014 .

[17]  Thomas B. Schön,et al.  Modeling and Calibration of Inertial and Vision Sensors , 2010, Int. J. Robotics Res..

[18]  W. Nowak,et al.  Application of FFT-based Algorithms for Large-Scale Universal Kriging Problems , 2009 .

[19]  A. Doucet,et al.  A Tutorial on Particle Filtering and Smoothing: Fifteen years later , 2008 .

[20]  Daniel Ankelhed,et al.  On design of low order H-infinity controllers , 2011 .

[21]  Isak Nielsen,et al.  Distributed primal–dual interior-point methods for solving tree-structured coupled convex problems using message-passing , 2017, Optim. Methods Softw..

[22]  Adrian Hilton,et al.  A survey of advances in vision-based human motion capture and analysis , 2006, Comput. Vis. Image Underst..

[23]  Lorenzo Rosasco,et al.  Vector Field Learning via Spectral Filtering , 2010, ECML/PKDD.

[24]  T. Ardeshiri,et al.  Analytical Approximations for Bayesian Inference , 2015 .

[25]  Peter Corke,et al.  An Introduction to Inertial and Visual Sensing , 2007, Int. J. Robotics Res..

[26]  G. Schmidt,et al.  Inertial sensor technology trends , 2001 .

[27]  Sabine Van Huffel,et al.  Consistent least squares fitting of ellipsoids , 2004, Numerische Mathematik.

[28]  정유진,et al.  Human Body Motion Capture System using Magnetic and Inertial Sensor Modules , 2011 .

[29]  T. Başar,et al.  A New Approach to Linear Filtering and Prediction Problems , 2001 .

[30]  Ulrich Hammes,et al.  Robust Tracking and Geolocation for Wireless Networks in NLOS Environments , 2009, IEEE Journal of Selected Topics in Signal Processing.

[31]  Mahmoud El-Gohary,et al.  Human Joint Angle Estimation with Inertial Sensors and Validation with A Robot Arm , 2015, IEEE Transactions on Biomedical Engineering.

[32]  Demoz Gebre-Egziabher,et al.  Calibration of Strapdown Magnetometers in Magnetic Field Domain , 2006 .

[33]  W. Gander,et al.  Least-squares fitting of circles and ellipses , 1994 .

[34]  Wolfram Burgard,et al.  A Tutorial on Graph-Based SLAM , 2010, IEEE Intelligent Transportation Systems Magazine.

[35]  Jakob Roll Local and Piecewise Affine Approaches to System Identification , 2003 .

[36]  Michael A. Osborne Bayesian Gaussian processes for sequential prediction, optimisation and quadrature , 2010 .

[37]  J. Leech,et al.  Classical Dynamics of Particles and Systems , 1966 .

[38]  Neil D. Lawrence,et al.  Latent Force Models , 2009, AISTATS.

[39]  J. Lofberg,et al.  YALMIP : a toolbox for modeling and optimization in MATLAB , 2004, 2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508).

[40]  P. Ledru,et al.  Geological modelling from field data and geological knowledge. Part II. Modelling validation using gravity and magnetic data inversion , 2008 .

[41]  Jan-Erik Strömberg,et al.  A Mode Switching Modelling Philosophy , 1994 .

[42]  K. C. Ho,et al.  A simple and efficient estimator for hyperbolic location , 1994, IEEE Trans. Signal Process..

[43]  Magnus Larsson,et al.  Behavioral and Structural Model Based Approaches to Discrete Diagnosis , 1999 .

[44]  Gerhard Tröster,et al.  S-SMART , 2016, ACM Trans. Intell. Syst. Technol..

[45]  J. Löfberg Minimax approaches to robust model predictive control , 2003 .

[46]  Xiaoming Hu,et al.  Drift-free attitude estimation for accelerated rigid bodies , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[47]  Anastasios I. Mourikis,et al.  High-precision, consistent EKF-based visual-inertial odometry , 2013, Int. J. Robotics Res..

[48]  Danilo Navarro,et al.  Magnetic map building for mobile robot localization purpose , 2009, 2009 IEEE Conference on Emerging Technologies & Factory Automation.

[49]  Ingela Lind,et al.  Regressor and Structure Selection Uses of ANOVA in System Identification , 2006 .

[50]  Valur Einarsson Model Checking Methods for Mode Switching Systems , 2000 .

[51]  Carl E. Rasmussen,et al.  Sparse Spectrum Gaussian Process Regression , 2010, J. Mach. Learn. Res..

[52]  David Törnqvist,et al.  Estimation and Detection with Applications to Navigation , 2008 .

[53]  Jay H. Lee,et al.  Constrained linear state estimation - a moving horizon approach , 2001, Autom..

[54]  Hugh F. Durrant-Whyte,et al.  Simultaneous localization and mapping: part I , 2006, IEEE Robotics & Automation Magazine.

[55]  Radford M. Neal Pattern Recognition and Machine Learning , 2007, Technometrics.

[56]  Carlos Silvestre,et al.  Geometric Approach to Strapdown Magnetometer Calibration in Sensor Frame , 2011, IEEE Transactions on Aerospace and Electronic Systems.

[57]  Fredrik Lindsten,et al.  Rao-Blackwellised particle methods for inference and identification , 2011 .

[58]  Thomas B. Schön,et al.  Modeling and Interpolation of the Ambient Magnetic Field by Gaussian Processes , 2015, IEEE Transactions on Robotics.

[59]  Sebastian Madgwick,et al.  Estimation of IMU and MARG orientation using a gradient descent algorithm , 2011, 2011 IEEE International Conference on Rehabilitation Robotics.

[60]  Ig-Jae Kim,et al.  Indoor location sensing using geo-magnetism , 2011, MobiSys '11.

[61]  Albert Tarantola,et al.  Inverse problem theory - and methods for model parameter estimation , 2004 .

[62]  Fernando Torres Medina,et al.  Hybrid tracking of human operators using IMU/UWB data fusion by a Kalman filter , 2008, 2008 3rd ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[63]  Daniel Petersson,et al.  A Nonlinear Optimization Approach to H2-Optimal Modeling and Control , 2013 .

[64]  Thomas B. Schon,et al.  Tightly coupled UWB/IMU pose estimation , 2009, 2009 IEEE International Conference on Ultra-Wideband.

[65]  E. Fuselier Refined error estimates for matrix-valued radial basis functions , 2007 .

[66]  Bertram Taetz,et al.  Towards self-calibrating inertial body motion capture , 2016, 2016 19th International Conference on Information Fusion (FUSION).

[67]  Henrik Tidefelt,et al.  Differential-algebraic equations and matrix-valued singular perturbation , 2009 .

[68]  Robert B. McGhee,et al.  An extended Kalman filter for quaternion-based orientation estimation using MARG sensors , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[69]  Hendrik Johannes Luinge,et al.  Inertial sensing of human movement , 2002 .

[70]  Diana Hodgins,et al.  Inertial sensor-based knee flexion/extension angle estimation. , 2009, Journal of biomechanics.

[71]  Jonas Callmer,et al.  Autonomous Localization in Unknown Environments , 2013 .

[72]  Alcherio Martinoli,et al.  Accurate indoor localization with ultra-wideband using spatial models and collaboration , 2014, Int. J. Robotics Res..

[73]  G.B. Giannakis,et al.  Localization via ultra-wideband radios: a look at positioning aspects for future sensor networks , 2005, IEEE Signal Processing Magazine.

[74]  Anders Stenman,et al.  Model on Demand: Algorithms, Analysis and Applications , 1999 .

[75]  Jonas Elbornsson,et al.  Analysis, Estimation and Compensation of Mismatch Effects in A/D Converters , 2003 .

[76]  Allan Gut,et al.  An intermediate course in probability , 1995 .

[77]  Michael Muma,et al.  Robust Estimation in Signal Processing: A Tutorial-Style Treatment of Fundamental Concepts , 2012, IEEE Signal Processing Magazine.

[78]  Bernt Schiele,et al.  A tutorial on human activity recognition using body-worn inertial sensors , 2014, CSUR.

[79]  Anders Helmersson,et al.  Methods for robust gain scheduling , 1995 .

[80]  Ola Härkegård,et al.  Backstepping and control allocation with applications to flight control , 2003 .

[81]  Urban Forssell Closed-loop Identification : Methods, Theory, and Applications , 1999 .

[82]  Markus Gerdin Identification and Estimation for Models Described by Differential-Algebraic Equations , 2006 .

[83]  Juha Röning,et al.  Magnetic field-based SLAM method for solving the localization problem in mobile robot floor-cleaning task , 2011, 2011 15th International Conference on Advanced Robotics (ICAR).

[84]  Stephen P. Boyd,et al.  Real-Time Convex Optimization in Signal Processing , 2010, IEEE Signal Processing Magazine.

[85]  J. Chilès,et al.  Geological modelling from field data and geological knowledge. Part I. Modelling method coupling 3D potential-field interpolation and geological rules , 2008 .

[86]  Jonas Gillberg Frequency Domain Identification of Continuous-Time Systems : Reconstruction and Robustness , 2006 .

[87]  Van Overbeek On-Line Structure Selection for the Identification of Multivariable Systems , 1982 .

[88]  Juha Röning,et al.  Simultaneous localization and mapping using ambient magnetic field , 2010, 2010 IEEE Conference on Multisensor Fusion and Integration.

[89]  Johan Dahlin,et al.  Newton-based maximum likelihood estimation in nonlinear state space models , 2015, 1502.03655.

[90]  M. Jirstrand Constructive Methods for Inequality Constraints in Control , 1998 .

[91]  Malcolm D. Shuster Survey of attitude representations , 1993 .

[92]  Leslie Pack Kaelbling,et al.  Tracking 3-D Rotations with the Quaternion Bingham Filter , 2013 .

[93]  Lennart Ljung,et al.  System Identification: Theory for the User , 1987 .

[94]  Thomas B. Schön,et al.  Using Inertial Sensors for Position and Orientation Estimation , 2017, Found. Trends Signal Process..

[95]  Jonas Jansson,et al.  Collision Avoidance Theory : with Application to Automotive Collision Mitigation , 2005 .

[96]  Simo Särkkä,et al.  Batch Continuous-Time Trajectory Estimation as Exactly Sparse Gaussian Process Regression , 2014, Robotics: Science and Systems.

[97]  Predrag Pucar Modeling and Segmentation using Multiple Models , 1995 .

[98]  Frank Dellaert,et al.  On-Manifold Preintegration for Real-Time Visual--Inertial Odometry , 2015, IEEE Transactions on Robotics.

[99]  D. W. Allan,et al.  Statistics of atomic frequency standards , 1966 .

[100]  D. Mitchell Wilkes,et al.  Mobile robot localization using an electronic compass for corridor environment , 2000, Smc 2000 conference proceedings. 2000 ieee international conference on systems, man and cybernetics. 'cybernetics evolving to systems, humans, organizations, and their complex interactions' (cat. no.0.

[101]  Ke Wang-Chen Transformation and Symbolic Calculations in Filtering and Control , 1994 .

[102]  Stephen J. Wright Primal-Dual Interior-Point Methods , 1997, Other Titles in Applied Mathematics.

[103]  Thomas Seel,et al.  IMU-Based Joint Angle Measurement for Gait Analysis , 2014, Sensors.

[104]  Jouni Hartikainen,et al.  Kalman filtering and smoothing solutions to temporal Gaussian process regression models , 2010, 2010 IEEE International Workshop on Machine Learning for Signal Processing.

[105]  Neil D. Lawrence,et al.  Kernels for Vector-Valued Functions: a Review , 2011, Found. Trends Mach. Learn..

[106]  Fredrik Gustafsson,et al.  Teaching Sensor Fusion and Kalman Filtering using a Smartphone , 2014 .

[107]  Robert Harle,et al.  A Survey of Indoor Inertial Positioning Systems for Pedestrians , 2013, IEEE Communications Surveys & Tutorials.

[108]  Hannes Sommer,et al.  A Primer on the Differential Calculus of 3D Orientations , 2016, ArXiv.

[109]  Arno Solin,et al.  Terrain navigation in the magnetic landscape: Particle filtering for indoor positioning , 2016, 2016 European Navigation Conference (ENC).

[110]  Simo Särkkä,et al.  Bayesian Filtering and Smoothing , 2013, Institute of Mathematical Statistics textbooks.

[111]  Erik Wernholt,et al.  Multivariable Frequency-Domain Identification of Industrial Robots , 2007 .

[112]  M. Shuster,et al.  Complete linear attitude-independent magnetometer calibration , 2002 .

[113]  K. Aminian,et al.  Ambulatory measurement of 3D knee joint angle. , 2008, Journal of biomechanics.

[114]  Angelo M. Sabatini,et al.  Dealing with Magnetic Disturbances in Human Motion Capture: A Survey of Techniques , 2016, Micromachines.

[115]  Håkan Hjalmarsson,et al.  Aspects on Incomplete Modeling in System Identification , 1993 .

[116]  F. Gustafsson,et al.  Mobile positioning using wireless networks: possibilities and fundamental limitations based on available wireless network measurements , 2005, IEEE Signal Processing Magazine.

[117]  C. Striebel,et al.  On the maximum likelihood estimates for linear dynamic systems , 1965 .

[118]  Thomas B. Schön,et al.  An optimization-based approach to human body motion capture using inertial sensors , 2014 .

[119]  Sina Khoshfetrat Pakazad,et al.  A scalable and distributed solution to the inertial motion capture problem , 2016, 2016 19th International Conference on Information Fusion (FUSION).

[120]  Jonathan R. Partington,et al.  On linear models for nonlinear systems , 2003, Autom..

[121]  J. Gunnarsson Symbolic Methods and Tools for Discrete Event Dynamic Systems , 1997 .

[122]  Christian Lyzell,et al.  Structural Reformulations in System Identification , 2012 .

[123]  Yousef Saad,et al.  Iterative methods for sparse linear systems , 2003 .

[124]  Thomas B. Schön,et al.  MEMS-based inertial navigation based on a magnetic field map , 2013, 2013 IEEE International Conference on Acoustics, Speech and Signal Processing.

[125]  Jack B. Kuipers,et al.  Quaternions and Rotation Sequences: A Primer with Applications to Orbits, Aerospace and Virtual Reality , 2002 .

[126]  Eric Foxlin,et al.  Inertial head-tracker sensor fusion by a complementary separate-bias Kalman filter , 1996, Proceedings of the IEEE 1996 Virtual Reality Annual International Symposium.

[127]  Mille Millnert,et al.  Identification and Control of Systems Subject to Abrupt Changes , 1983 .

[128]  Joseph J. LaViola,et al.  On Kalman Filtering With Nonlinear Equality Constraints , 2007, IEEE Transactions on Signal Processing.

[129]  Hans Driessen,et al.  MAP estimation in particle filter tracking , 2008 .

[130]  Michael J. Rycroft,et al.  Understanding GPS. Principles and Applications , 1997 .

[131]  Hans Driessen,et al.  Particle based MAP state estimation: A comparison , 2009, 2009 12th International Conference on Information Fusion.

[132]  Thomas B. Schön,et al.  Maximum likelihood calibration of a magnetometer using inertial sensors , 2014 .

[133]  E. Weinstein,et al.  A new method for evaluating the log-likelihood gradient, the Hessian, and the Fisher information matrix for linear dynamic systems , 1989, IEEE Trans. Inf. Theory.

[134]  Inger Klein,et al.  Automatic Synthesis of Sequential Control Schemes , 1993 .

[135]  Fredrik Lindsten,et al.  Backward Simulation Methods for Monte Carlo Statistical Inference , 2013, Found. Trends Mach. Learn..

[136]  Manon Kok,et al.  Probabilistic modeling for positioning applications using inertial sensors , 2014 .

[137]  Paul Timothy Furgale,et al.  Gaussian Process Gauss–Newton for non-parametric simultaneous localization and mapping , 2013, Int. J. Robotics Res..

[138]  Kevin Blankespoor,et al.  BigDog, the Rough-Terrain Quadruped Robot , 2008 .

[139]  Hugh F. Durrant-Whyte,et al.  Simultaneous map building and localization for an autonomous mobile robot , 1991, Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91.

[140]  Mats Viberg,et al.  Subspace fitting concepts in sensor array processing , 1990 .

[141]  Neil D. Lawrence,et al.  Linear Latent Force Models Using Gaussian Processes , 2011, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[142]  Juha Röning,et al.  Near-optimal Exploration in Gaussian Process SLAM: Scalable Optimality Factor and Model Quality Rating , 2011, ECMR.

[143]  Lennart Ljung,et al.  Using horizon estimation and nonlinear optimization for grey-box identification , 2015 .

[144]  Gerhard Kurz,et al.  Recursive estimation of orientation based on the Bingham distribution , 2013, Proceedings of the 16th International Conference on Information Fusion.

[145]  Agostino Martinelli,et al.  Vision and IMU Data Fusion: Closed-Form Solutions for Attitude, Speed, Absolute Scale, and Bias Determination , 2012, IEEE Transactions on Robotics.

[146]  Nicolas Petit,et al.  Combining inertial measurements and distributed magnetometry for motion estimation , 2011, Proceedings of the 2011 American Control Conference.

[147]  Simo Särkkä,et al.  Linear Operators and Stochastic Partial Differential Equations in Gaussian Process Regression , 2011, ICANN.

[148]  Carl E. Rasmussen,et al.  A Unifying View of Sparse Approximate Gaussian Process Regression , 2005, J. Mach. Learn. Res..

[149]  Simo Särkkä,et al.  State-Space Inference for Non-Linear Latent Force Models with Application to Satellite Orbit Prediction , 2012, ICML.

[150]  Zhijie Xia,et al.  Modeling and control of flexible manipulators , 1992 .

[151]  Berthold K. P. Horn,et al.  Closed-form solution of absolute orientation using unit quaternions , 1987 .

[152]  Angelo M. Sabatini,et al.  Quaternion-based extended Kalman filter for determining orientation by inertial and magnetic sensing , 2006, IEEE Transactions on Biomedical Engineering.

[153]  Svante Gunnarsson Frequency Domain Aspects of Modeling and Control in Adaptive Systems , 1988 .

[154]  Volkan Cevher,et al.  Convex Optimization for Big Data: Scalable, randomized, and parallel algorithms for big data analytics , 2014, IEEE Signal Processing Magazine.

[155]  H. M. Schepers,et al.  Ambulatory assessment of human body kinematics and kinetics , 2009 .

[156]  Thomas B. Schön,et al.  Calibration of a magnetometer in combination with inertial sensors , 2012, 2012 15th International Conference on Information Fusion.

[157]  Robert E. Mahony,et al.  Nonlinear Complementary Filters on the Special Orthogonal Group , 2008, IEEE Transactions on Automatic Control.

[158]  Peter A. J. Nagy Tools for Knowledge-Based Signal Processing with Applications to System Identification , 1992 .

[159]  M. Nabighian,et al.  The historical development of the magnetic method in exploration , 2005 .

[160]  A.H. Sayed,et al.  Network-based wireless location: challenges faced in developing techniques for accurate wireless location information , 2005, IEEE Signal Processing Magazine.

[161]  Nicolas Petit,et al.  Using magnetic disturbances to improve IMU-based position estimation , 2007, 2007 European Control Conference (ECC).

[162]  Johan Dahlin,et al.  Accelerating Monte Carlo methods for Bayesian inference in dynamical models , 2016 .

[163]  Thomas B. Schön,et al.  Indoor Positioning Using Ultrawideband and Inertial Measurements , 2015, IEEE Transactions on Vehicular Technology.

[164]  Fredrik Gustafsson,et al.  Robust Inference for State-Space Models with Skewed Measurement Noise , 2015, IEEE Signal Processing Letters.

[165]  André Carvalho Bittencourt,et al.  On Modeling and Diagnosis of Friction and Wear in Industrial Robots , 2014 .

[166]  Henrik Ohlsson,et al.  Regularization for Sparseness and Smoothness : Applications in System Identification and Signal Processing , 2010 .

[167]  Nir Friedman,et al.  Probabilistic Graphical Models - Principles and Techniques , 2009 .

[168]  Christina Grönwall Ground Object Recognition using Laser Radar Data : Geometric Fitting, Performance Analysis, and Applications , 2006 .

[169]  Katinka Wolter,et al.  A survey of experimental evaluation in indoor localization research , 2015, 2015 International Conference on Indoor Positioning and Indoor Navigation (IPIN).

[170]  Carl E. Rasmussen,et al.  Gaussian Processes for Data-Efficient Learning in Robotics and Control , 2015, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[171]  Peter H. Veltink,et al.  Measuring orientation of human body segments using miniature gyroscopes and accelerometers , 2005, Medical and Biological Engineering and Computing.

[172]  Mikael Norrlöf,et al.  Iterative Learning Control : Analysis, Design, and Experiments , 2000 .

[173]  Tommy Svensson Mathematical Tools and Software for Analysis and Design of Nonlinear Control Systems , 1992 .

[174]  T. Kaiser,et al.  Hybrid localization using UWB and inertial sensors , 2008, 2008 IEEE International Conference on Ultra-Wideband.

[175]  H. Jonson A Newton Method for Solving Non-Linear Optimal Control Problems with General Constraints , 1983 .

[176]  V. Springel Smoothed Particle Hydrodynamics in Astrophysics , 2010, 1109.2219.

[177]  D. A. Dunnett Classical Electrodynamics , 2020, Nature.

[178]  M. Shuster,et al.  Three-axis attitude determination from vector observations , 1981 .

[179]  V. Verdult,et al.  Filtering and System Identification: A Least Squares Approach , 2007 .

[180]  Suzanne Lesecq,et al.  Calibration methods for inertial and magnetic sensors , 2009 .

[181]  A. Isaksson On System Identification in one and two Dimensions with Signal Processing Applications , 1988 .

[182]  Thomas B. Schön,et al.  Modeling magnetic fields using Gaussian processes , 2013, 2013 IEEE International Conference on Acoustics, Speech and Signal Processing.

[183]  Hyun Myung,et al.  Magnetic field constraints and sequence-based matching for indoor pose graph SLAM , 2015, Robotics Auton. Syst..

[184]  F. Gustafsson Estimation of Discrete Parameters in Linear Systems , 1993 .

[185]  Fredrik Gunnarsson Power control in cellular radio system: Analysis, design and estimation , 2000 .

[186]  K. Kabin,et al.  Divergence‐free magnetic field interpolation and charged particle trajectory integration , 2006 .

[187]  Stefan B. Williams,et al.  Bathymetric particle filter SLAM using trajectory maps , 2012, Int. J. Robotics Res..

[188]  Isaac Skog,et al.  In-Car Positioning and Navigation Technologies—A Survey , 2009, IEEE Transactions on Intelligent Transportation Systems.

[189]  Florian Nadel,et al.  Stochastic Processes And Filtering Theory , 2016 .

[190]  Giancarlo Troni,et al.  Adaptive Estimation of Measurement Bias in Three-Dimensional Field Sensors with Angular Rate Sensors: Theory and Comparative Experimental Evaluation , 2013, Robotics: Science and Systems.

[191]  Cyrill Stachniss,et al.  Hierarchical optimization on manifolds for online 2D and 3D mapping , 2010, 2010 IEEE International Conference on Robotics and Automation.

[192]  James Diebel,et al.  Representing Attitude : Euler Angles , Unit Quaternions , and Rotation Vectors , 2006 .

[193]  John L. Crassidis,et al.  Survey of nonlinear attitude estimation methods , 2007 .

[194]  H. Fortell Algebraic Approaches to Normal Forms and Zero Dynamics , 1995 .

[195]  Oliver J. Woodman,et al.  An introduction to inertial navigation , 2007 .

[196]  Sina Khoshfetrat Pakazad,et al.  Divide and Conquer: Distributed Optimization and Robustness Analysis , 2015 .

[197]  J. Sjöberg Optimal Control and Model Reduction of Nonlinear DAE Models , 2008 .

[198]  Henk Wymeersch,et al.  UWB Positioning with Generalized Gaussian Mixture Filters , 2014, IEEE Transactions on Mobile Computing.

[199]  Xiang Li,et al.  A new calibration method for tri-axial field sensors in strap-down navigation systems , 2012 .

[200]  P. Savage STRAPDOWN INERTIAL NAVIGATION INTEGRATION ALGORITHM DESIGN. PART 2: VELOCITY AND POSITION ALGORITHMS , 1998 .

[201]  Giuseppe Carlo Calafiore,et al.  Approximation of n-dimensional data using spherical and ellipsoidal primitives , 2002, IEEE Trans. Syst. Man Cybern. Part A.

[202]  Greg Welch,et al.  Motion Tracking: No Silver Bullet, but a Respectable Arsenal , 2002, IEEE Computer Graphics and Applications.

[203]  Stephen P. Boyd,et al.  Convex Optimization , 2004, Algorithms and Theory of Computation Handbook.

[204]  Bertram Taetz,et al.  On Inertial Body Tracking in the Presence of Model Calibration Errors , 2016, Sensors.

[205]  Fredrik Gunnarsson,et al.  Uplink load in CDMA cellular radio systems , 2006, IEEE Transactions on Vehicular Technology.

[206]  Robert B. McGhee,et al.  Design, Implementation, and Experimental Results of a Quaternion-Based Kalman Filter for Human Body Motion Tracking , 2005, IEEE Transactions on Robotics.

[207]  Bob Palais,et al.  A Disorienting Look at Euler's Theorem on the Axis of a Rotation , 2009, The American mathematical monthly.

[208]  Fredrik Gustafsson,et al.  Ultra-wideband calibration for indoor positioning , 2010, 2010 IEEE International Conference on Ultra-Wideband.

[209]  Christian Lundquist,et al.  On Extended Target Tracking Using PHD Filters , 2012 .

[210]  Carl E. Rasmussen,et al.  Gaussian processes for machine learning , 2005, Adaptive computation and machine learning.

[211]  Xiaoji Niu,et al.  Analysis and Modeling of Inertial Sensors Using Allan Variance , 2008, IEEE Transactions on Instrumentation and Measurement.

[212]  Johanna Wallén,et al.  Estimation-based iterative learning control , 2011 .

[213]  Robert Harle,et al.  Pedestrian localisation for indoor environments , 2008, UbiComp.

[214]  Christopher J Paciorek,et al.  Bayesian Smoothing with Gaussian Processes Using Fourier Basis Functions in the spectralGP Package. , 2007, Journal of statistical software.

[215]  S. Andersson On Dimension Reduction in Sensor Array Signal Processing , 1992 .

[216]  Fabio Tozeto Ramos,et al.  Gaussian process occupancy maps* , 2012, Int. J. Robotics Res..

[217]  Niclas Bergman,et al.  Recursive Bayesian Estimation : Navigation and Tracking Applications , 1999 .

[218]  Rickard Karlsson,et al.  Particle filtering for positioning and tracking applications , 2005 .

[219]  A. O'Hagan,et al.  Curve Fitting and Optimal Design for Prediction , 1978 .

[220]  Thomas B. Schön,et al.  Accelerometer calibration using sensor fusion with a gyroscope , 2016, 2016 IEEE Statistical Signal Processing Workshop (SSP).

[221]  Andreas Eidehall,et al.  Tracking and threat assessment for automotive collision avoidance , 2007 .

[222]  B. Peyton,et al.  An Introduction to Chordal Graphs and Clique Trees , 1993 .

[223]  Thomas Zwick,et al.  Sensor data fusion in UWB-supported inertial navigation systems for indoor navigation , 2013, 2013 IEEE International Conference on Robotics and Automation.

[224]  Fredrik Lindsten,et al.  Particle filters and Markov chains for learning of dynamical systems , 2013 .

[225]  D K Smith,et al.  Numerical Optimization , 2001, J. Oper. Res. Soc..

[226]  Per Skoglar,et al.  Tracking and Planning for Surveillance Applications , 2012 .

[227]  B. Bengtsson On some Control Problems for Queues , 1982 .

[228]  Thomas B. Schön,et al.  System identification of nonlinear state-space models , 2011, Autom..

[229]  Alessio De Angelis,et al.  Indoor Positioning by Ultra-Wideband Radio Aided Inertial Navigation , 2009 .

[230]  Karl Johan Åström Maximum likelihood and prediction error methods , 1980, Autom..

[231]  Andrew G. Dempster,et al.  How feasible is the use of magnetic field alone for indoor positioning? , 2012, 2012 International Conference on Indoor Positioning and Indoor Navigation (IPIN).

[232]  B. Bhattacharyya,et al.  Bicubic Spline Interpolation as a Method for Treatment of Potential Field Data , 1969 .

[233]  Didier Stricker,et al.  Activity Recognition Using Biomechanical Model Based Pose Estimation , 2010, EuroSSC.

[234]  Janne Haverinen,et al.  Global indoor self-localization based on the ambient magnetic field , 2009, Robotics Auton. Syst..

[235]  Lennart Ljung,et al.  Adaptive control based on explicit criterion minimization , 1985, Autom..

[236]  Dieter Fox,et al.  Gaussian Processes for Signal Strength-Based Location Estimation , 2006, Robotics: Science and Systems.

[237]  Johan Dahlin,et al.  Sequential Monte Carlo Methods for System Identification , 2015, 1503.06058.

[238]  Patrik Axelsson,et al.  Sensor Fusion and Control Applied to Industrial Manipulators , 2014 .

[239]  F. Markley Attitude Error Representations for Kalman Filtering , 2003 .

[240]  T. McKelvey Identification of State-Space Models from Time and Frequency Data , 1995 .

[241]  Yuanxin Wu,et al.  On Calibration of Three-Axis Magnetometer , 2015, IEEE Sensors Journal.

[242]  Ram Dantu,et al.  Magnetic Maps for Indoor Navigation , 2011, IEEE Transactions on Instrumentation and Measurement.

[243]  Frida Eng,et al.  Non-Uniform Sampling in Statistical Signal Processing , 2007 .

[244]  Zoran Sjanic,et al.  Navigation and Mapping for Aerial Vehicles Based on Inertial and Imaging Sensors , 2013 .

[245]  Paul Newman,et al.  Adaptive compression for 3D laser data , 2011, Int. J. Robotics Res..

[246]  Kaveh Pahlavan,et al.  Measurement and Modeling of Ultrawideband TOA-Based Ranging in Indoor Multipath Environments , 2009, IEEE Transactions on Vehicular Technology.

[247]  Fredrik Gustafsson,et al.  Statistical Sensor Fusion , 2013 .

[248]  Christian Lundquist,et al.  Sensor fusion for automotive applications , 2011 .

[249]  Kjell Nordström Uncertainty, Robustness and Sensitivity Reduction in the Design of Single Input Control Systems , 1987 .

[250]  Arno Solin,et al.  Spatio-Temporal Learning via Infinite-Dimensional Bayesian Filtering and Smoothing , 2013 .

[251]  Timothy A. Davis,et al.  Direct methods for sparse linear systems , 2006, Fundamentals of algorithms.

[252]  Simo Särkkä,et al.  Infinite-Dimensional Kalman Filtering Approach to Spatio-Temporal Gaussian Process Regression , 2012, AISTATS.

[253]  P. Lindskog Methods, Algorithms and Tools for System Identification Based on Prior Knowledge , 1996 .

[254]  Sinan Gezici,et al.  Ultra-wideband Positioning Systems: Theoretical Limits, Ranging Algorithms, and Protocols , 2008 .

[255]  Jorge Dias,et al.  Relative Pose Calibration Between Visual and Inertial Sensors , 2007, Int. J. Robotics Res..

[256]  G. Bellusci,et al.  The Next Generation Xsens Motion Trackers for Industrial Applications , 2017 .

[257]  David K. Smith,et al.  Dynamic Programming and Optimal Control. Volume 1 , 1996 .

[258]  Ragnar Wallin,et al.  Optimization Algorithms for System Analysis and Identification , 2004 .

[259]  G. Hendeby,et al.  Performance and Implementation Aspects of Nonlinear Filtering , 2008 .

[260]  K. Forsman Constructive Commutative Algebra in Nonlinear Control Theory , 1991 .

[261]  Patrick Robertson,et al.  Characterization of the indoor magnetic field for applications in Localization and Mapping , 2012, 2012 International Conference on Indoor Positioning and Indoor Navigation (IPIN).

[262]  I-Ming Chen,et al.  3-D Localization of Human Based on an Inertial Capture System , 2013, IEEE Transactions on Robotics.

[263]  R. Mahony,et al.  Complementary filter design on the Special Euclidean group SE(3) , 2007, 2007 European Control Conference (ECC).

[264]  Per-Johan Nordlund,et al.  Efficient Estimation and Detection Methods for Airborne Applications , 2008 .

[265]  Simo Särkkä,et al.  Sequential Inference for Latent Force Models , 2011, UAI.

[266]  D. Roetenberg,et al.  Xsens MVN: Full 6DOF Human Motion Tracking Using Miniature Inertial Sensors , 2009 .

[267]  Martin A. Skoglund Inertial Navigation and Mapping for Autonomous Vehicles , 2014 .

[268]  Bradley M. Bell,et al.  The Iterated Kalman Smoother as a Gauss-Newton Method , 1994, SIAM J. Optim..

[269]  Johan Dahlin,et al.  Real-time video based lighting using GPU raytracing , 2014, 2014 22nd European Signal Processing Conference (EUSIPCO).

[270]  Marco F. Huber Recursive Gaussian process: On-line regression and learning , 2014, Pattern Recognit. Lett..

[271]  Mohammed Khider,et al.  Simultaneous Localization and Mapping for pedestrians using distortions of the local magnetic field intensity in large indoor environments , 2013, International Conference on Indoor Positioning and Indoor Navigation.

[272]  Daniel Axehill,et al.  Integer Quadratic Programming for Control and Communication , 2008 .

[273]  G. Bellusci,et al.  Xsens MVN MotionGrid : Drift-Free Human Motion Tracking Using Tightly Coupled Ultra-Wideband and Miniature Inertial Sensors , 2011 .

[274]  Gerhard Kurz,et al.  Unscented Orientation Estimation Based on the Bingham Distribution , 2013, IEEE Transactions on Automatic Control.

[275]  Jeroen D. Hol,et al.  Sensor Fusion and Calibration of Inertial Sensors, Vision, Ultra-Wideband and GPS , 2011 .

[276]  Thomas B. Schön,et al.  Robust real-time tracking by fusing measurements from inertial and vision sensors , 2007, Journal of Real-Time Image Processing.

[277]  YangQuan Chen,et al.  Autopilots for small unmanned aerial vehicles: A survey , 2010 .

[278]  Gonzalo Seco-Granados,et al.  Statistical Trilateration With Skew-t Distributed Errors in LTE Networks , 2016, IEEE Transactions on Wireless Communications.

[279]  Daniel Axehill,et al.  Extended Kalman filter modifications based on an optimization view point , 2015, 2015 18th International Conference on Information Fusion (Fusion).

[280]  Sylvain Pittet,et al.  UWB and MEMS Based Indoor Navigation , 2008, Journal of Navigation.

[281]  P. Veltink,et al.  Compensation of magnetic disturbances improves inertial and magnetic sensing of human body segment orientation , 2005, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[282]  Thomas B. Schön,et al.  Nonlinear state space smoothing using the conditional particle filter , 2015, ArXiv.

[283]  B. Wahlberg On the Identification and Approximation of Linear Systems , 1987 .

[284]  Fredrik Tjärnström,et al.  Variance Expressions and Model Reduction in System Identification , 2002 .

[285]  Patrick Robertson,et al.  Magnetic maps of indoor environments for precise localization of legged and non-legged locomotion , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[286]  P H Veltink,et al.  Ambulatory measurement of arm orientation. , 2007, Journal of biomechanics.