Abstract:
Stochastic Cloning: A generalized framework for processing relative state measurements Abstract — This paper introduces a generalized framework, termed “stochastic cloning, ” for processing relative state measurements within a Kalman filter estimator. The main motivation and application for this methodology is the problem of fusing displacement measurements with position estimates for mobile robot localization. Previous approaches have ignored the developed interdependencies (cross-correlation terms) between state estimates of the same quantities at different time instants. By directly expressing relative state measurements in terms of previous and current state estimates, the effect of these cross-correlation terms on the estimation process is analyzed and considered during updates. Simulation and experimental results validate this approach.
Citations
|
297
|
High resolution maps from wide angle sonar
– Moravec, Elfes
- 1985
|
|
231
|
Integration of representation into goal-driven behavior-based robots
– Mataric
- 1992
|
|
175
|
Mobile robot localization by tracking geometric beacons
– Leonard, Durrant-Whyte
- 1991
|
|
160
|
Stochastic models, estimation, and control
– Maybeck
- 1979
|
|
157
|
Blanche—an experiment in guidance and navigation of an autonomous robot vehicle
– Cox
- 1991
|
|
153
|
Robot pose estimation in unknown environments by matching 2d range scans
– Lu, Milios
- 1994
|
|
104
|
Bayesian Landmark Learning for Mobile Robot Localization
– Thrun
- 1998
|
|
74
|
Measurement and correction of systematic odometry errors in mobile robots
– Borenstein, Feng
- 1996
|
|
65
|
Inertial navigation systems for mobile robots
– Barshan, Durrant-Whyte
- 1995
|
|
60
|
Spacecraft Attitude Determination and Control
– Wertz, Ed
- 1978
|
|
42
|
Maximum likelihood rover localization by matching range maps
– Olson, Matthies
- 1998
|
|
32
|
Bayesian estimation and kalman filtering: A unified framework for mobile robot localization
– Roumeliotis, Bekey
|
|
22
|
Fusing range and intensity images for mobile robot localization
– Neira, Tardos, et al.
- 1999
|
|
21
|
Kalman filtering for spacecraft attitude estimation
– Lefferts, Markley, et al.
- 1982
|
|
21
|
Circumventing dynamic modeling: Evaluation of the error-state kalman filter applied to mobile robot localization
– Roumeliotis, Sukhatme, et al.
- 1999
|
|
19
|
Sensors For Mobile Robots
– Everett
- 1995
|
|
16
|
Dead reckoning for a lunar rover on uneven terrain
– Fuke, Krotkov
- 1996
|
|
15
|
Weighted Range Sensor Matching Algorithms for Mobile Robot Displacement Estimation
– Pfister, Kriechbaum, et al.
- 2002
|
|
14
|
Robust Mobile Robot Localization: From single-robot uncertainties to multi-robot interdependencies
– Roumeliotis
- 2000
|
|
11
|
Supervised dimension reduction of intrinsically low-dimensional data
– Vlassis, Motomura, et al.
- 2002
|
|
6
|
Smoother-based 3-d attitude estimation for mobile robot localization
– Roumeliotis, Sukhatme, et al.
- 1998
|
|
6
|
Precise image-based motion estimation for autonomous small body exploration
– Johnson, Matthies
- 1999
|
|
2
|
Autonomous Robot Vehicles, chapter ”Estimating
– Smith, Self, et al.
- 1990
|
|
1
|
Improved state estimation in challenging terrain
– Hoffman, Baumgartner, et al.
- 1999
|
|
1
|
A kalman filter for processing relative pose measurements
– Roumeliotis
- 2001
|
