Simultaneous localization and odometry calibration for mobile robot

Agostino Martinelli (1) , Nicola Tomatis (2) , Adriana Tapus (3) , Roland Y. Siegwart (2)

1 E-MOTION - Geometry and Probability for Motion and Action
2 ASL - Autonomous Systems Lab
3 U2IS - Unité d'Informatique et d'Ingénierie des Systèmes

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.

Domaines: Robotique [cs.RO]

Agostino Martinelli, Nicola Tomatis, Adriana Tapus, Roland Y. 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⟩