Drift-free humanoid state estimation fusing kinematic, inertial and LIDAR sensing.
Maurice F. FallonMatthew E. AntoneNicholas RoySeth J. TellerPublished in: Humanoids (2014)
Keyphrases
- state estimation
- kalman filter
- kinematic model
- degrees of freedom
- kalman filtering
- particle filter
- state space model
- dynamic systems
- visual tracking
- particle filtering
- dynamic model
- estimation problems
- extended kalman filter
- high resolution
- humanoid robot
- object tracking
- image processing
- signal processing
- multiresolution