Position estimation and tracking using optical range data
- 30 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 2172-2177 vol.3
- https://doi.org/10.1109/iros.1993.583929
Abstract
With the use of a scanning optical ranger, a dense map of an environment has been constructed. From this, line segment targets are extracted and matched against an a priori map to obtain observations for an extended Kalman filter. This filter is then able to update predictions of an autonomous guided vehicle's position (made using odometry) in real time, offering high-speed position estimation using inexpensive sensing techniques.Keywords
This publication has 4 references indexed in Scilit:
- Infra-red location system for navigation of autonomous vehiclesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- An iconic position estimator for a 2D laser rangefinderPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Directed Sonar Sensing for Mobile Robot NavigationPublished by Springer Nature ,1992
- Uncertain geometry in roboticsIEEE Journal on Robotics and Automation, 1988