We consider the problem of observer design for a nonholonomic car (more generally a wheeled robot) equipped with wheel speeds with unknown wheel radius, and whose position is measured via a GNSS antenna placed at an unknown position in the car. In a tutorial and unified exposition, we recall the recent theory of two-frame systems within the field of invariant Kalman filtering. We then show how to adapt it geometrically to address the considered problem, although it seems at first sight out of its scope. This yields an invariant extended Kalman filter having autonomous error equations, and state-independent Jacobians, which is shown to work remarkably well in simulations. The proposed novel construction thus extends the application scope of invariant filtering.
Estimation of articulated angle in six-wheeled dump trucks using multiple GNSS receivers for autonomous driving
Chiba Institute of Technology（千叶工业大学）；Tohoku University（东北大学）；Kowatech Co., Ltd.（Kowatech有限公司）；Sato Koumuten Co., Ltd.（佐藤工务店有限公司）；Sanyo-Technics Co., Ltd.（三洋技术有限公司）；The University of Tokyo（东京大学）
Multi-robot Systems Group, Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague（布拉格捷克技术大学电气工程学院控制学系多机器人系统组）；Turku Intelligent Embedded and Robotic Systems (TIERS) Lab, University of Turku（图尔库大学智能嵌入式与机器人系统实验室）
Improving GNSS Positioning using Neural Network-based Corrections
Stanford University（斯坦福大学）；University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）；Indian Institute of Technology Bombay（印度理工学院孟买分校）；Indian Institute of Technology Kanpur（印度理工学院坎普尔分校）
Wheel-GINS: A GNSS/INS Integrated Navigation System with a Wheel-mounted IMU
University of Bonn（波恩大学）；Institute of Geodesy and Geoinformation（大地测量与地理信息研究所）；Center for Robotics（机器人中心）；University of Oxford（牛津大学）；Lamarr Institute for Machine Learning and Artificial Intelligence（拉马尔机器学习与人工智能研究所）；GNSS Research Center（全球导航卫星系统研究中心）；Wuhan University（武汉大学）
Ultra-Fusion: A Resilient Tightly-Coupled Multi-Sensor Fusion SLAM Framework under Sensor Degradation and Spatiotemporal Perturbation for Intelligent Transportation Systems
Beijing Institute of Technology（北京理工大学）；Chongqing University（重庆大学）；Sichuan University（四川大学）；Northwestern Polytechnical University（西北工业大学）；Shanghai Jiao Tong University（上海交通大学）
Leveraging GNSS and Onboard Visual Data from Consumer Vehicles for Robust Road Network Estimation
Woven by Toyota, Inc.（丰田 woven 公司）；University of Bonn（波恩大学）；Center for Robotics, University of Bonn（波恩大学机器人中心）；Lamarr Institute for Machine Learning and Artificial Intelligence（拉马尔机器学习与人工智能研究所）
Learning Whole-Body Loco-Manipulation for Omni-Directional Task Space Pose Tracking with a Wheeled-Quadrupedal-Manipulator
School of System Design and Intelligent Manufacturing (SDIM), Southern University of Science and Technology, Shenzhen, China（系统设计与智能制造学院，南方科技大学，深圳，中国）；Zhejiang University-University of Illinois Urbana-Champaign Institute (ZJUI), Haining, China（浙江大学-伊利诺伊大学厄巴纳-香槟分校联合学院，海宁，中国）；LimX Dynamics, Shenzhen, China（LimX Dynamics，深圳，中国）
Galilean State Estimation for Inertial Navigation Systems with Unknown Time Delay
Control of Networked Systems Group（网络化系统控制组）；University of Klagenfurt（克莱根furt大学）；Systems Theory and Robotics Group（系统理论与机器人组）；Australian National University（澳大利亚国立大学）；I3S, CNRS, Université Côte d’Azur and Institut Universitaire de France（I3S、CNRS、坎特伯雷大学及法国大学研究院）
Autonomous Hybrid Ground/Aerial Mobility in Unknown Environments
NASA Jet Propulsion Laboratory, California Institute of Technology（美国国家航空航天局喷气推进实验室，加州理工学院）；Institute for Robotics and Intelligent Machines, Georgia Institute of Technology（机器人与智能机器研究所，佐治亚理工学院）
Project AutoVision: Localization and 3D Scene Perception for an Autonomous Vehicle with a Multi-Camera System
DSO National Laboratories（DSO国家实验室）；ETH Zürich（苏黎世联邦理工学院）；National University of Singapore（新加坡国立大学）；MPI-IS and University of Tübingen（马克斯·普朗克智能系统研究所和图宾根大学）；Microsoft, Switzerland（微软瑞士）；Chalmers University of Technology, Sweden（瑞典查尔姆斯理工大学）
Analyzing the impact of semantic LoD3 building models on image-based vehicle localization
Technical University of Munich（慕尼黑工业大学）；TUM School of Engineering and Design（慕尼黑工业大学工程与设计学院）；D Mapping Solutions GmbH（3D测绘解决方案有限公司）；Hochschule München University of Applied Sciences（慕尼黑应用科学大学）
