This repository is a ROS package witten in python and contains the code for a generic multisensor fusion scheme based on Moving Horizon Estimation for the localization of arial and ground autonomous platforms. The package accepts arbitrary number of sensors measurmenets. The messages types accepted by the package are sensors_msgs/Imu and nav_msgs/Odometry
Maintainer Status: maintained
Maintainer: Mostafa Osman
Author: Mostafa Osman
If you use this code in your research, please cite:
@article{osman2021generic,
title={A generic multi-sensor fusion scheme for localization of autonomous platforms using moving horizon estimation},
author={Osman, Mostafa and Mehrez, Mohamed W and Daoud, Mohamed A and Hussein, Ahmed and Jeon, Soo and Melek, William},
journal={Transactions of the Institute of Measurement and Control},
pages={01423312211011454},
year={2021},
publisher={SAGE Publications Sage UK: London, England}
}