On Embedding B-Splines in Recursive State Estimation

We present a principled study on establishing a novel probabilistic framework for state estimation. B-splines are embedded in the state-space modeling as a continuous-time intermediate between the states of recurrent control points and asynchronous sensor measurements. Based thereon, the spline-embedded recursive estimation scheme is established w.r.t. common sensor fusion tasks, and the corresponding technique for modeling uncertain motion estimates is introduced. We evaluate the proposed estimation scheme using real-world-based synthesized data with a range-inertial setting. The numerical results demonstrate several advantages of spline embedding in recursive state estimation over the classic discrete-time filtering scheme.