Optimal mobile robot pose estimation using geometrical maps
| Autor: | M.-J. Aldon, Geovany A. Borges |
|---|---|
| Rok vydání: | 2002 |
| Předmět: |
0209 industrial biotechnology
Computational complexity theory business.industry Mobile robot 02 engineering and technology Kalman filter 3D pose estimation 020901 industrial engineering & automation Control and Systems Engineering Feature (computer vision) Linearization 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Computer vision Artificial intelligence Motion planning Electrical and Electronic Engineering business Pose Mathematics |
| Zdroj: | IEEE Transactions on Robotics and Automation. 18:87-94 |
| ISSN: | 1042-296X |
| DOI: | 10.1109/70.988978 |
| Popis: | We propose a weighted least-squares (WLS) algorithm for optimal pose estimation of mobile robots using geometrical maps as environment models. Pose estimation is achieved from feature correspondences in a nonlinear framework without linearization. The proposed WLS approach yields optimal estimates in the least-squares sense, is applicable to heterogeneous geometrical features decomposed in points and lines, and has an O(N) computation time. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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