Slip-Aware Motion Estimation for Off-Road Mobile Robots via Multi-Innovation Unscented Kalman Filter.
Fangxu LiuXueyuan LiShihua YuanWei LanPublished in: IEEE Access (2020)
Keyphrases
- mobile robot
- motion estimation
- unscented kalman filter
- simultaneous localization and mapping
- dynamic model
- image sequences
- extended kalman filter
- path planning
- kalman filter
- motion vectors
- position and orientation
- reference frame
- inter frame
- indoor environments
- optical flow
- multi robot
- real time
- dynamic environments
- constant velocity
- autonomous robots
- motion field
- motion compensation
- visual tracking
- motion model
- motion planning
- state estimation
- sensor fusion
- computational complexity
- video sequences
- mobile robotics
- motion estimates
- object tracking
- mean shift