In this paper, the robust robot localization problem with respect to uncertainties on environment features is formulated in a stochastic setting, and an extended Kalman filtering approach is proposed for the integration of odometric, video camera, and sonar measures. The environment is supposed to be only partially known, and a probabilistic method for sensor data fusion aimed at increasing the environment knowledge is considered.
Video data validation by sonar measures for robot localization and environment feature estimation / Bonci, Andrea; Ippoliti, Gianluca; La Manna, Alessia; Longhi, Sauro. - In: ROBOTICA. - ISSN 0263-5747. - 27:5(2009), pp. 653-662. [10.1017/S026357470800502X]
Video data validation by sonar measures for robot localization and environment feature estimation
BONCI, Andrea;IPPOLITI, Gianluca;LONGHI, SAURO
2009-01-01
Abstract
In this paper, the robust robot localization problem with respect to uncertainties on environment features is formulated in a stochastic setting, and an extended Kalman filtering approach is proposed for the integration of odometric, video camera, and sonar measures. The environment is supposed to be only partially known, and a probabilistic method for sensor data fusion aimed at increasing the environment knowledge is considered.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
