IEEE - Institute of Electrical and Electronics Engineers, Inc. - Circumventing dynamic modeling: evaluation of the error-state Kalman filter applied to mobile robot localization

Proceedings of International Conference on Robotics and Automation

Author(s): Roumeliotis, S.I. ; Sukhatme, G.S. ; Bekey, G.A.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1999
Conference Location: Detroit, MI, USA, USA
Conference Date: 10 May 1999
Volume: 2
ISBN (Paper): 0-7803-5180-0
ISSN (Paper): 1050-4729
DOI: 10.1109/ROBOT.1999.772597
Regular:

The mobile robot localization problem is treated as a two-stage iterative estimation process. The attitude is estimated first and is then available for position estimation. The indirect (error... View More

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