Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer.
Xihang YuSangli TengTheodor ChakhachiroWenzhe TongTingjun LiTzu-Yuan LinSarah KoehlerManuel AhumadaJeffrey M. WallsMaani GhaffariPublished in: CoRR (2022)
Keyphrases
- state estimation
- kalman filtering
- kinematic model
- mobile robot
- simultaneous localization and map building
- kalman filter
- robotic systems
- path planning
- state space model
- extended kalman filter
- motion control
- particle filtering
- multi frame
- multi robot
- motion planning
- particle filter
- computer vision
- d objects
- spatio temporal
- autonomous robots
- scale space
- map building
- optical flow
- image sequences