Advanced sonar and odometry error modeling for simultaneous localisation and map building

@inproceedings{Kleeman2003AdvancedSA,
  title={Advanced sonar and odometry error modeling for simultaneous localisation and map building},
  author={Lindsay Kleeman},
  booktitle={IROS},
  year={2003}
}
An advanced sonar sensor produces accurate range and bearing measurements, classifies targets and rejects interference with one sensing cycle. Two advanced sonar systems are used to simultaneously localise and map an indoor environment using a mobile robot. This paper presents the approach and results from on-the-fly map building using a Kalman filter and a new odometry error model that incorporates variations in effective wheel separation and angle measurements. This model is suited to… CONTINUE READING
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