Review of Continuous-time Trajectory State Estimation Research Based on B-Splines
Multi-source data fusion is a major development trend in state estimation technology in recent years,enhancing the accuracy and robustness of state estimation.However,multi-sensor integration brings new challenges such as time-domain association of high-frequency,different-frequency,and asynchronous data,the accurate calibration of sensor extrin-sic parameters,the data distortion correction of continuous acquisition sensors,and fusion of heterogeneous sensor data.Continuous-time trajectory methods naturally have advantages in overcoming these problems.This paper reviews the re-search on continuous-time trajectory state estimation based on B-splines.Firstly,the theory of continuous-time trajectory state estimation based on B-splines is introduced.Next,different applications to offline calibration and online odometry are systematically classified.Finally,future research directions are discussed.
continuous-time trajectorystate estimationB-splinesensor calibrationSLAM(simultaneous localization and mapping)
万方数据
维普
