Abstract
Although odometry is nonlinear, it yields sufficiently to linearized analysis to produce a closed-form transition matrix and a symbolic general solution for both deterministic and stochastic error propagation. Accordingly, error propagation in vehicle odometry can be understood at a level of theoretical rigor equivalent to the well-known Schuler dynamics of inertial navigation. While response to initial conditions is path-independent, response to input errors can be related to path functionals. These trajectory moments are integral transforms which functions like the moment of inertia or the Laplace transform — enabling many error propagation calculations to be performed by hand in closed-form.
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© 2003 Springer-Verlag Berlin Heidelberg
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Kelly, A. (2003). General Solution for Linearized Error Propagation in Vehicle Odometry. In: Jarvis, R.A., Zelinsky, A. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 6. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36460-9_36
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DOI: https://doi.org/10.1007/3-540-36460-9_36
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