Simultaneous localization and odometry calibration for mobile robot

Abstract : This paper presents both the theory and the first experimental results of a new method which allows simultaneous estimation of the robot configuration and the odometry error (both systematic and non-systematic) during the mobile robot navigation. The estimation of the non-systematic components is carried out through an augmented Kalman filter which estimates a state containing the robot configuration and the parameters of the odometry error. It uses encoder readings as inputs and the readings from a laser range finder as observations. The estimation of the non-systematic components is carried out through another Kalman filter where the observations are obtained by two subsequent robot configurations provided by the previous augmented Kalman filter.
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https://hal.archives-ouvertes.fr/hal-01015907
Contributor : Adriana Tapus <>
Submitted on : Thursday, April 9, 2015 - 12:35:00 PM
Last modification on : Thursday, October 11, 2018 - 8:48:02 AM

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Agostino Martinelli, Nicola Tomatis, Adriana Tapus, Roland Siegwart. Simultaneous localization and odometry calibration for mobile robot. IROS 2003, Oct 2003, Las Vegas, United States. pp.1499 - 1504, ⟨10.1109/IROS.2003.1248856⟩. ⟨hal-01015907⟩

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