FusionCore: 用于IMU、轮式编码器、GPS和视觉SLAM融合的23状态无迹卡尔曼滤波器（ROS 2）
FusionCore: A 23-State Unscented Kalman Filter for IMU, Wheel Encoder, GPS, and Visual SLAM Fusion in ROS 2
AI总结：
提出FusionCore，一个基于23状态无迹卡尔曼滤波器的开源ROS 2传感器融合包，通过在线估计轮式编码器偏航率偏差、GPS ECEF原生处理、自适应噪声协方差和VSLAM位姿融合，在12个NCLT序列上比robot_localization取得更低的绝对轨迹误差。
摘要：
我们提出了FusionCore，一个开源的ROS 2传感器融合包，它使用23状态无迹卡尔曼滤波器（UKF）将IMU、轮式编码器里程计、GPS和视觉SLAM位姿融合成单个100 Hz的里程计流。第23个状态是轮式编码器系统性偏航率偏差的在线估计，该偏差通过GPS航向互协方差识别，并在GPS中断期间减去，以减少滑行模式下的航向漂移。FusionCore还将陀螺仪和加速度计偏差估计为显式滤波器状态，在ECEF中本地处理GPS而无需单独的坐标投影节点，应用基于测量自由度的每传感器马氏卡方异常值门控，并根据创新序列自动调整传感器噪声协方差。VSLAM位姿融合使得任何视觉里程计或SLAM系统都能在GPS缺失环境下运行，包括从地图重新初始化中自动恢复。我们在NCLT公开数据集的12个全长序列（每个55-92分钟）上对robot_localization进行了评估。FusionCore在12个序列中的10个上实现了更低的绝对轨迹误差（ATE），在获胜序列上改进范围从1.2倍到22.2倍。robot_localization的UKF在所有12个序列上数值发散。FusionCore可在https://github.com/manankharwar/fusioncore上获取，采用Apache 2.0许可证。
英文摘要：
We present FusionCore, an open-source ROS 2 sensor fusion package that fuses IMU, wheel encoder odometry, GPS, and Visual SLAM pose into a single 100 Hz odometry stream using a 23-state Unscented Kalman Filter (UKF). The 23rd state is an online estimate of the wheel encoder's systematic yaw rate bias, identified through GPS heading cross-covariance and subtracted during GPS blackouts to reduce heading drift in coast mode. FusionCore also estimates gyroscope and accelerometer biases as explicit filter states, handles GPS natively in ECEF without a separate coordinate projection node, applies per-sensor Mahalanobis chi-squared outlier gating calibrated to measurement degrees of freedom, and adapts sensor noise covariance automatically from the innovation sequence. VSLAM pose fusion enables GPS-denied operation with any visual odometry or SLAM system, including automatic recovery from map reinitialization. We evaluate against robot_localization on twelve full-length sequences (55-92 min each) from the NCLT public dataset. FusionCore achieves lower Absolute Trajectory Error (ATE) on ten of twelve sequences, with improvements ranging from 1.2x to 22.2x on winning sequences. The robot_localization UKF diverges numerically on all twelve sequences. FusionCore is available at https://github.com/manankharwar/fusioncore under the Apache 2.0 license.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
