A Simultaneous Localization and Mapping System Using the Iterative Error State Kalman Filter Judgment Algorithm for Global Navigation Satellite System.

Outdoor autonomous mobile robots heavily rely on GPS data for localization. However, GPS data can be erroneous and signals can be interrupted in highly urbanized areas or areas with incomplete satellite coverage, leading to localization deviations. In this paper, we propose a SLAM (Simultaneous Localization and Mapping) system that combines the IESKF (Iterated Extended Kalman Filter) and a factor graph to address these issues. We perform IESKF filtering on LiDAR and inertial measurement unit (IMU) data at the front-end to achieve a more accurate estimation of local pose and incorporate the resulting laser inertial odometry into the back-end factor graph. Furthermore, we introduce a GPS signal filtering method based on GPS state and confidence to ensure that abnormal GPS data is not used in the back-end processing. In the back-end factor graph, we incorporate loop closure factors, IMU preintegration factors, and processed GPS factors. We conducted comparative experiments using the publicly available KITTI dataset and our own experimental platform to compare the proposed SLAM system with two commonly used SLAM systems: the filter-based SLAM system (FAST-LIO) and the graph optimization-based SLAM system (LIO-SAM). The experimental results demonstrate that the proposed SLAM system outperforms the other systems in terms of localization accuracy, especially in cases of GPS signal interruption.

Using Granger-Geweke causality model to evaluate the effective connectivity of primary motor cortex (M1), supplementary motor area (SMA) and cerebellum.

Currently, Granger-Geweke causality models have been widely applied to investigate the dynamic direction relationships among brain regions. In a previous study, we have found that the right hand finger-tapping task can produce relatively reliable brain response. As an extension of our previous study, we developed an algorithm based on the classical Granger-Geweke causality model to further investigate the effective connectivity of three brain regions (left primary motor cortex (M1), supplementary motor area (SMA) and right cerebellum) that showed the most robust brain activations. Our computational results not only confirm the strong linear feedback among SMA, M1 and right cerebellum, but also demonstrate that M1 is the hub of these three regions indicated by the anatomy research. Moreover, the model predicts the high intermediate node density existing in the area between SMA and M1, which will stimulate the imaging experimentalists to carry out new experiments to validate this postulation.