On the treatment of relative-pose measurements for mobile robot localization

Anastasios I. Mourikis, Stergios Roumeliotis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

27 Scopus citations

Abstract

In this paper, we study the problem of localization using relative-state estimates. It is shown, that when the same exteroceptive sensor measurement is processed for the computation of two consecutive displacement estimates (both forward and backward in time) these estimates are correlated, and an analysis of the exact structure of the correlations is performed. This analysis is utilized in the design of data fusion algorithms, that correctly account for the existing correlations. We examine two cases: i) pose propagation based exclusively on inferred displacement measurements, and ii) the fusion of proprioceptive sensor information with relative-state measurements. For the latter case, an efficient EKF-based estimation algorithm is proposed, that extends the approach of [1]. Extensive simulation and experimental results are presented, that verify the validity of the presented method.

Original languageEnglish (US)
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages2277-2284
Number of pages8
DOIs
StatePublished - Dec 27 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period5/15/065/19/06

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    Mourikis, A. I., & Roumeliotis, S. (2006). On the treatment of relative-pose measurements for mobile robot localization. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 2277-2284). [1642042] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1642042