Linearized Error Propagation in Odometry

@article{Kelly2004LinearizedEP,
  title={Linearized Error Propagation in Odometry},
  author={Alonzo Kelly},
  journal={I. J. Robotics Res.},
  year={2004},
  volume={23},
  pages={179-218}
}
The related fields of mobile robotics and ground vehicle localization lack a linearized theory of odometry error propagation. By contrast, the equivalent Schuler dynamics which apply to inertial guidance have been known and exploited for decades. In this paper, the general solution of linearized propagation dynamics of both systematic and random errors for… CONTINUE READING

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