Sensor based robot localisation and navigation: using interval analysis and unscented Kalman filter.
Immanuel A. R. AshokarajAntonios TsourdosPeter M. G. SilsonBrian A. WhitePublished in: IROS (2004)
Keyphrases
- unscented kalman filter
- interval analysis
- position and orientation
- autocalibration
- simultaneous localization and mapping
- robot navigation
- vision system
- indoor environments
- constrained optimization
- inertial sensors
- mobile robot
- stereo pair
- dynamic model
- extended kalman filter
- stereo camera
- pose estimation
- kalman filter
- autonomous robots
- state estimation
- humanoid robot
- path planning
- closed form
- camera pose
- mobile robotics
- dynamic environments
- particle filter
- real time