Fast and easy systematic and stochastic odometry calibration

  title={Fast and easy systematic and stochastic odometry calibration},
  author={Alonzo James Kelly},
  journal={2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)},
  pages={3188-3194 vol.4}
A method of odometry calibration is proposed and validated which is designed to be as convenient as possible. Convenience is enhanced by reducing both the amount of software to be written and the amount of measurements to be made to a minimum. The path dependent nature of odometry can be exploited to reduce the amount of ground truth information to as little as a single known point. Existing odometry and covariance estimation functions themselves would be used to extract first order parameter… CONTINUE READING
Highly Cited
This paper has 33 citations. REVIEW CITATIONS

From This Paper

Figures, tables, and topics from this paper.
24 Citations
10 References
Similar Papers


Publications citing this paper.
Showing 1-10 of 24 extracted citations


Publications referenced by this paper.
Showing 1-10 of 10 references

Linearized Error Propaation in Odometry

  • “ A.Kelly
  • 2004

0pr;ml Control ond Estimation, Dover

  • R. Stengel
  • Jairmol of Robodcs Reieomh,
  • 2003

An odometry calibration method for mobile robots based on the least - squares technique ”

  • S. Chiaverini, G. Fusco
  • 2003

Online Self-Calibrarim For Mohile Rohm," Pmceedinps of the IEEE Intmalional

  • Ray, S. Thrun
  • Confercncc on Roboiics and Aulomaiion (ICRA)
  • 1999

A&mIe Odomctry and Enar Modelling for a MohilC Rohol

  • K. Choig, L. Kleeman
  • Roc
  • 1997

Similar Papers

Loading similar papers…