Towards a Model Based Sensor Measurement Variance Input for Extended Kalman Filter State Estimation

Autor: Harry A. G. Pointon, Benjamin J. McLoughlin, Christian Matthews, Frederic A. Bezombes

Publikováno v: Drones, Vol 3, Iss 1, p 19 (2019)

In this paper, we present an alternate method for the generation and implementation of the sensor measurement variance used in an Extended Kalman Filter (EKF). Furthermore, it demonstrates the limitations of a conventional EKF implementation and post

Externí odkaz: https://doaj.org/article/5c400fac09f148faa4f13f07be082316

Towards an Unmanned 3D Mapping System Using UWB Positioning

Autor: Frederic Bezombes, Jeff Cullen, Andy Shaw, Benjamin J. McLoughlin

Publikováno v: Towards Autonomous Robotic Systems ISBN: 9783319967271
TAROS
Towards Autonomous Robotic Systems-19th Annual Conference, TAROS 2018, Bristol, UK July 25-27, 2018, Proceedings
Lecture Notes in Computer Science
Lecture Notes in Computer Science-Towards Autonomous Robotic Systems

The work presented in this paper is part of a Horizon 2020 project known as DigiArt, with an aim to deploy an unmanned ground vehicle (UGV) mounted with a 3D scan LiDAR to generate 3D maps of an archaeological subterranean environment. The challenges

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::ac2ef075918ae7aa231736fd1a3be0cc
https://doi.org/10.1007/978-3-319-96728-8_35

Uncertainty Characterisation of Mobile Robot Localisation Techniques using Optical Surveying Grade Instruments

Autor: John P. McLoughlin, Benjamin J. McLoughlin, Harry A. G. Pointon, Frederic Bezombes, Andy Shaw

Publikováno v: Sensors (Basel, Switzerland)
Sensors
Volume 18
Issue 7
Sensors, Vol 18, Iss 7, p 2274 (2018)

Recent developments in localisation systems for autonomous robotic technology have been a driving factor in the deployment of robots in a wide variety of environments. Estimating sensor measurement noise is an essential factor when producing uncertai

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::1df4c1065b5017a81a2f59ec8410c7f2
https://doi.org/10.3390/s18072274