Hybrid, high-precision localisation for the mail distributing mobile robot system MOPS

  title={Hybrid, high-precision localisation for the mail distributing mobile robot system MOPS},
  author={Kai Oliver Arras and Sjur J. Vestli},
  journal={Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)},
  pages={3129-3134 vol.4}
  • K. Arras, S. J. Vestli
  • Published 16 May 1998
  • Computer Science
  • Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)
Describes the new localisation algorithms under implementation for the mail distributing mobile robot, MOPS, of the Institute of Robotics, Swiss Federal Institute of Technology Zurich. Using geometric primitives as features, we employ consistent probabilistic feature extraction, clustering, matching and estimation of the vehicle position and orientation. The extracted features and their first-order covariance estimates are used, together with a world model, by an extended Kalman filter so as to… 

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