Multi-modal and inertial sensor solutions for navigation-type factor graphs

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2017-09
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Fourie, Dehann
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10.1575/1912/9305
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Abstract
This thesis presents a sum-product inference algorithm for platform navigation called Multi-modal iSAM (incremental smoothing and mapping). CommonGaussian-only likelihoods are restrictive and require a complex front-end processes to deal with non-Gaussian measurements. Instead, our approach allows the front-end to defer ambiguities with non-Gaussian measurement models. We retain the acyclic Bayes tree (and incremental update strategy) from the predecessor iSAM2 maxproduct algorithm [Kaess et al., IJRR 2012]. The approach propagates continuous beliefs on the Bayes (Junction) tree, which is an efficient symbolic refactorization of the nonparametric factor graph, and asymptotically approximates the underlying Chapman-Kolmogorov equations. Our method tracks dominant modes in the marginal posteriors of all variables with minimal approximation error, while suppressing almost all lowlikelihood modes (in a non-permanent manner). Keeping with existing inertial navigation, we present a novel, continuous-time, retroactively calibrating inertial odometry residual function, using preintegration to seamlessly incorporate pure inertial sensor measurements into a factor graph. We centralize around a factor graph (with starved graph databases) to separate elements of the navigation into an ecosystem of processes. Practical examples are included, such as how to infer multi-modal marginal posterior belief estimates for ambiguous loop closures; rawbeam-formed acoustic measurements; or conventional parametric likelihoods, and others.
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Submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution September 2017
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Fourie, D. (2017). Multi-modal and inertial sensor solutions for navigation-type factor graphs [Doctoral thesis, Massachusetts Institute of Technology and Woods Hole Oceanographic Institution]. Woods Hole Open Access Server. https://doi.org/10.1575/1912/9305
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