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Localization in changing environments - Estimation of a covariance matrix for the IDC algorithm
Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS).
Högskolan i Halmstad, Akademin för informationsteknologi, Halmstad Embedded and Intelligent Systems Research (EIS).
2001 (engelsk)Inngår i: Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180): Volume 4 of 4, Piscataway, N.J.: IEEE, 2001, s. 1931-1937Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

Previously we have presented a new scan-matching algorithm, based on the IDC - Iterative Dual Correspondence- algorithm, which showed a good localization performance even in the case of severe changes in the environment. The Problem of the IDC-algorithm is that there is no good way to estimate the covariance matrix of the position estimate, which prohibits an effective fusion with other position estimates from other sensors, e.g by means of the Kalman filter. In this paper we present a new way to estimate the covariance matrix, by estimating the Hessian matrix of the error function that is minimized by the IDC scan-matching algorithm. Simulation results show that the estimated covariance matrix correspond well to the real one.

sted, utgiver, år, opplag, sider
Piscataway, N.J.: IEEE, 2001. s. 1931-1937
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URN: urn:nbn:se:hh:diva-35791DOI: 10.1109/IROS.2001.976356ISI: 000176593900306Scopus ID: 2-s2.0-0035560165ISBN: 0-7803-6612-3 (tryckt)OAI: oai:DiVA.org:hh-35791DiVA, id: diva2:1193883
Konferanse
International Conference on Intelligent Robots and Systems, expanding the societal role of robotics in the next millennium , October 29-November 3, 2001, Outrigger Wailea Resort, Maui, Hawaii, USA
Merknad

Funding: Volvo Research Foundation, Volvo Educational Foundation and Dr Pehr G Gyllenhammars Research Foundation.

Tilgjengelig fra: 2018-03-28 Laget: 2018-03-28 Sist oppdatert: 2018-07-19bibliografisk kontrollert

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