Abstract:
This paper gives an overview about the position estimation techniques based on typical measurement devices used in mobile robot applications. The purpose of this paper is...Show MoreMetadata
Abstract:
This paper gives an overview about the position estimation techniques based on typical measurement devices used in mobile robot applications. The purpose of this paper is to give an overview of the position estimation based on the fusion of information from several sensors. It presents different extensions of Kalman filter estimators and analyses the performances of these algorithms. There are compared several estimation techniques like the Extended or Unscented Kalman filters and the particle methods. Furthermore modelling details and stereo vision algorithms are introduced. In the second part there are shown the results of the odometric, ultrasonic measurements techniques and the ones based on stereo vision.
Published in: 2009 European Control Conference (ECC)
Date of Conference: 23-26 August 2009
Date Added to IEEE Xplore: 02 April 2015
Print ISBN:978-3-9524173-9-3