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## Towards Robust Graphical Models for GNSS-Based Localization in Urban Environments

### Citations

3874 |
Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography.
- Fischler, Bolles
- 1981
(Show Context)
Citation Context ...ocessing and evaluating the received signals from the satellite in the receiver. These approaches are rather low-level and operate on the radio signal level. It is curious that RANSAC-like algorithms =-=[8]-=- seem to have only recently found their way into the GNSS-community [9], [10]. Roughly similar approaches have been summarized under the term RAIM (Receiver Autonomous Integrity Monitoring) but appear... |

1767 | Factor graphs and the sum-product algorithm,”
- Kschischang, Frey, et al.
- 2001
(Show Context)
Citation Context ... an omnidirectional infrared camera mounted on the vehicle. IV. MODELLING THE GNSS-BASED LOCALIZATION PROBLEM AS A FACTOR GRAPH Factor graphs are bipartite undirected graphs and have been proposed by =-=[13]-=- as a general tool to model factorizations of large functions with many variables into smaller local subsets. The idea can be applied to probabilistic problems like SLAM or GNSS-based localization. Th... |

1317 |
Probabilistic Robotics.
- Thrun, Burgard, et al.
- 2005
(Show Context)
Citation Context ...ping) has been a very active and almost ubiquitous problem in the field of mobile and autonomous robotics for over two decades. For many years, filter-based methods have dominated the SLAM literature =-=[1]-=-, but a change of paradigms could be observed recently, that led the developments away from filters towards optimization-based methods. Although such optimization-based approaches are known to the com... |

526 | Globally consistent range scan alignment for environment mapping”.
- Lu, Milios
- 1997
(Show Context)
Citation Context ...ecently, that led the developments away from filters towards optimization-based methods. Although such optimization-based approaches are known to the community since the work of Lu and Milois in 1997 =-=[2]-=-, they have only recently begun to become more popular as efficient algorithms for solving the underlying optimization problems are now available. The most prominent recent examples have been g2o [3] ... |

172 |
g2o: A general framework for graph optimization.
- Kummerle, Grisetti, et al.
- 2011
(Show Context)
Citation Context ... [2], they have only recently begun to become more popular as efficient algorithms for solving the underlying optimization problems are now available. The most prominent recent examples have been g2o =-=[3]-=- and iSAM2 [4]. In contrast to filter-based methods, optimization-based approaches build upon efficient algorithms for nonlinear least squares optimization that exploit the sparsity inherent in the SL... |

28 | iSAM2: Incremental smoothing and mapping with fluid relinearization and incremental variable reordering
- Kaess, Johannsson, et al.
- 2011
(Show Context)
Citation Context ...e only recently begun to become more popular as efficient algorithms for solving the underlying optimization problems are now available. The most prominent recent examples have been g2o [3] and iSAM2 =-=[4]-=-. In contrast to filter-based methods, optimization-based approaches build upon efficient algorithms for nonlinear least squares optimization that exploit the sparsity inherent in the SLAM problem. Th... |

13 | N.: Towards a robust back-end for pose graph slam
- Sunderhauf, Protzel
- 2012
(Show Context)
Citation Context ... that least squares methods are not by default robust against outliers. In SLAM, such outliers arise mostly from data association errors like false positive loop closures etc. In recent previous work =-=[5]-=-, [6] we developed an approach for robust optimization for pose graph SLAM problems in the presence of such outliers. This paper discusses the applicability of this robust graphbased optimization to t... |

9 |
Failure Detection and Exclusion via Range Consensus”, (file number 2008/048), European Patent
- Schroth
- 2008
(Show Context)
Citation Context ...receiver. These approaches are rather low-level and operate on the radio signal level. It is curious that RANSAC-like algorithms [8] seem to have only recently found their way into the GNSS-community =-=[9]-=-, [10]. Roughly similar approaches have been summarized under the term RAIM (Receiver Autonomous Integrity Monitoring) but appear to have mostly expected only a single outlier among the satellite obse... |

7 |
GPS multipath mitigation for urban area using omnidirectional infrared camera
- Meguro, Murata, et al.
- 2009
(Show Context)
Citation Context ...number of usable satellites, especially when considering multi-constellation applications. [11] however discusses the application of RAIM in the occurrence of several simultaneous satellite failures. =-=[12]-=- proposes to actively determine occluded satellites with the help of an omnidirectional infrared camera mounted on the vehicle. IV. MODELLING THE GNSS-BASED LOCALIZATION PROBLEM AS A FACTOR GRAPH Fact... |

4 |
Research on RAIM Algorithm under the Assumption of Simultaneous Multiple Satellites Failure
- Qiang, Xiaolin, et al.
- 2007
(Show Context)
Citation Context ...xpected only a single outlier among the satellite observations [10] which is inadequate given the increasing number of usable satellites, especially when considering multi-constellation applications. =-=[11]-=- however discusses the application of RAIM in the occurrence of several simultaneous satellite failures. [12] proposes to actively determine occluded satellites with the help of an omnidirectional inf... |

2 |
Evaluation of gnss receiver autonomous integrity monitoring for multiple outliers with a smart random sample consensus strategy
- Tu, Gu, et al.
- 2011
(Show Context)
Citation Context ...ver. These approaches are rather low-level and operate on the radio signal level. It is curious that RANSAC-like algorithms [8] seem to have only recently found their way into the GNSS-community [9], =-=[10]-=-. Roughly similar approaches have been summarized under the term RAIM (Receiver Autonomous Integrity Monitoring) but appear to have mostly expected only a single outlier among the satellite observatio... |

2 |
Empirical evaluation of vehicular models for ego motion estimation
- Schubert, Adam, et al.
- 2011
(Show Context)
Citation Context ... associated with the state transition factor at time t. D. The Motion Model Factor A variety of motion models can be applied in the context of vehicle localization or motion estimation. For instance, =-=[14]-=- lists and evaluates six different types. As an example, the constant velocity and turn rate model (CTRV) is used here Σ st t to formulate a motion model factor. Notice however that any other model fr... |