Estimating odometry scale and UWB anchor location based on semidefinite programming optimization

• Main Authors: Nguyen, Thien Hoang, Xie, Lihua
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2022
• Subjects: Engineering::Electrical and electronic engineering; Sensor Fusion; Visual Odometry
• Online Access: https://hdl.handle.net/10356/163296
• Institution: Nanyang Technological University

In this letter, we study the problem of estimating the unknown metric scale of an odometry system and the 3D location of an Ultra-wideband (UWB) anchor in the environment. Firstly, we present a theoretical analysis of the problem which includes the derivation of Fisher Information Matrix (FIM) and i...