Corpus ID: 232335514

iMHS: An Incremental Multi-Hypothesis Smoother

  title={iMHS: An Incremental Multi-Hypothesis Smoother},
  author={Fan Jiang and V. Agrawal and Russell Buchanan and M. Fallon and F. Dellaert},
State estimation of multi-modal hybrid systems is an important problem with many applications in the field robotics. However, incorporating discrete modes in the estimation process is hampered by a potentially combinatorial growth in computation. In this paper we present a novel incremental multi-hypothesis smoother based on eliminating a hybrid factor graph into a multi-hypothesis Bayes tree, which represents possible discrete state sequence hypotheses. Following iSAM, we enable incremental… Expand


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