DOAJ Open Access 2024

Factor Graphs for Navigation Applications: A Tutorial

Clark Taylor Jason Gross

Abstrak

This tutorial presents the factor graph, a recently introduced estimation framework that is a generalization of the Kalman filter. An approach for constructing a factor graph, with its associated optimization problem and efficient sparse linear algebra formulation, is described. A comparison with Kalman filters is presented, together with examples of the generality of factor graphs. A brief survey of previous applications of factor graphs to navigation problems is also presented. Source code for the extended Kalman filter comparison and for generating the graphs in this paper is available at https://github.com/cntaylor/factorGraph2DsatelliteExample.

Topik & Kata Kunci

Canals and inland navigation. Waterways Naval Science

Penulis (2)

Clark Taylor

Jason Gross

Format Sitasi

APA MLA BibTeX

Taylor, C., Gross, J. (2024). Factor Graphs for Navigation Applications: A Tutorial. https://doi.org/10.33012/navi.653

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Informasi Jurnal

Tahun Terbit: 2024
Sumber Database: DOAJ
DOI: 10.33012/navi.653
Akses: Open Access ✓