Paper Info
Title
Simultaneous localization and odometry calibration for mobile robot.
Abstract
This paper presents both the theory and the first experimental results of a new method which allows simultaneously estimating of the robot configuration and the odometry error (both systematic and non-systematic) during the mobile robot navigation. The estimation of the non-systematic components is carried out through an augmented Kalman filter which estimates a state containing the robot configuration and the parameters characterizing the systematic component of the odometry error. It uses encoder readings as inputs and the readings from a laser range finder as observations. The estimation of the non-systematic component is carried out through another Kalman filter where the observations are obtained by two subsequent robot configurations provided by the previous augmented Kalman filter.
Year
DOI
Venue
2003
10.1109/IROS.2003.1248856
IROS
Keywords
DocType
Volume
robot navigation, Kalman filter, odometry learning
Conference
2
Citations 
PageRank 
References 
36
2.61
10
Authors
4
Name
Order
Citations
PageRank
Agostino Martinelli1102661.67
Nicola Tomatis269951.47
Adriana Tapus363865.04
Roland Siegwart47640551.49