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Robot Position Estimation Using Kalman Filtering and Correspondence

This project deals with the tracking of a mobile robot's position using sonar data, data from a Biris laser-rangefinder and data from other sources. Data fusion is accomplished using an Extended Kalman filter. Key issues are the stability of the position estimation process, its accuracy, and the modelling of the peculiarities in the sensors.
P. Habib, G. Dudek



Thierry Baron
Mon Nov 13 10:43:02 EST 1995