TY  - BOOK
AU  - Liu,Xinghua
AU  - Jiang,Rui
AU  - Chen,Badong
AU  - Sam Ge,Shuzhi
TI  - Multimodal perception and secure state estimation for robotic mobility platforms
SN  - 9781119876014
AV  - TK7872.D48 L59 2023
U1  - DC 005.74 2023
PY  - 2023///]
CY  - Hoboken, NJ : 
PB  - Wiley-IEEE Press, 
KW  - Multisensor data fusion
KW  - Mobile robots
KW  - Automated vehicles
N1  - Includes bibliographical references (pages 189-206) and index

N2  - "This book provides a novel perspective on secure state estimation and multimodal perception for robotic mobility platforms such as autonomous vehicles. In particular, the book discusses the two essential topics in autonomous systems: 1. secure state estimation that focuses on system robustness under cyber-attacks, and 2. multi-sensor fusion that helps improve system performance based on the complementary characteristics of different sensors. Finally, the authors introduce a geometric pose estimation framework to incorporate measurements and constraints into a unified fusion scheme, where real-time road-constrained and heading-assisted pose estimation is achieved. The proposed geometric pose estimation has been validated using public and self-collected data and can be further extended to other kinds of sensor configurations with state and measurement constraints."--
ER  -