Trajectory Estimation of a Tracked Mobile Robot Using the Sigma-Point Kalman Filter with an IMU and Optical Encoder.
Xuan Vinh HaCheolkeun HaJewon LeePublished in: ICIC (1) (2012)
Keyphrases
- kalman filter
- mobile robot
- extended kalman filter
- state estimation
- kalman filtering
- update equations
- scale factor
- simultaneous localization and mapping
- unscented kalman filter
- target tracking
- object tracking
- particle filter
- motion parameters
- adaptive kalman filter
- path planning
- mean shift
- state space model
- autonomous navigation
- image sequences
- motion estimation
- particle filtering
- indoor environments
- bit rate
- inertial measurement unit
- data association
- obstacle avoidance
- estimation accuracy
- nearest neighbor
- dynamic environments
- dynamic programming