Paper Info
Title
An augmented state vector approach to GPS-based localization
Abstract
The paper focuses on the localization subsystem of ANSER, a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. ANSER localization subsystem is composed of a non-differential GPS unit and a laser rangefinder for landmark-based localization (inertial sensors are absent). An augmented state vector approach and an Extended Kalman filter are successfully employed to estimate the colored components in GPS noise, thus getting closer to the conditions for the EKF to be applicable.
Year
DOI
Venue
2007
10.1109/IROS.2007.4399316
San Diego, CA
Keywords
Field
DocType
wide outdoor areas,localization subsystem,global positioning system,anser project,inertial sensors,kalman filters,anser localization subsystem,extended kalman filter,landmark-based localization,airport night surveillance expert robot,airports,laser rangefinder,gps-based localization,mobile robots,nondifferential gps unit,map-based localization,surveillance,augmented state vector approach,laser ranging,patrolling robot,path planning,civilian airports,mobile robot,autonomous mobile robot surveillance,autonomous surveillance,nonlinear filters
Computer vision,Extended Kalman filter,State vector,Computer science,Patrolling,Global Positioning System,Artificial intelligence,Inertial measurement unit,Laser rangefinder,Robot,Mobile robot
Conference
ISSN
ISBN
Citations 
2159-6255
978-1-4244-0912-9
2
PageRank 
References 
Authors
0.50
10
3
Name
Order
Citations
PageRank
Francesco Capezio1273.74
Antonio Sgorbissa243957.21
Renato Zaccaria329947.64