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Journal articles
Invariant EKF Design for Scan Matching-aided Localization
Abstract : Localization in indoor environments is a technique that estimates the robot's pose by fusing data from onboard motion sensors with readings of the environment, in our case obtained by scan matching point clouds captured by a low-cost Kinect depth camera. We develop both an invariant extended Kalman filter (IEKF)-based and a multiplicative extended Kalman filter-based solution to this problem. The two designs are successfully validated in experiments and demonstrate the advantage of the IEKF design.
Cited literature [24 references]
https://hal-mines-paristech.archives-ouvertes.fr/hal-01256770
Contributor : François Goulette Connect in order to contact the contributor
Submitted on : Friday, January 15, 2016 - 12:23:12 PM
Last modification on : Wednesday, November 17, 2021 - 12:31:03 PM
Long-term archiving on: : Saturday, April 16, 2016 - 10:32:50 AM
Contributor : François Goulette Connect in order to contact the contributor
Submitted on : Friday, January 15, 2016 - 12:23:12 PM
Last modification on : Wednesday, November 17, 2021 - 12:31:03 PM
Long-term archiving on: : Saturday, April 16, 2016 - 10:32:50 AM
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