An IMU/UWB/Vision-based Extended Kalman Filter for Mini-UAV Localization in Indoor Environment using 802.15.4a Wireless Sensor Network.
Alessandro BeniniAdriano ManciniSauro LonghiPublished in: J. Intell. Robotic Syst. (2013)
Keyphrases
- indoor environments
- simultaneous localization and mapping
- extended kalman filter
- inertial sensors
- path planning
- wireless sensor networks
- mobile robot
- unscented kalman filter
- indoor localization
- dead reckoning
- visual odometry
- dynamic environments
- energy consumption
- sensor fusion
- augmented reality
- robotic systems
- sensor nodes
- routing algorithm
- mobile robotics
- multi robot
- real time
- vision system
- computer vision
- kalman filtering
- state estimation
- wireless communication
- neural network
- training algorithm
- multipath
- autonomous navigation
- moving objects
- object recognition