Position tracking and sensors self-calibration in autonomous mobile robots by Gauss-Newton optimization

@article{Cucci2014PositionTA,
  title={Position tracking and sensors self-calibration in autonomous mobile robots by Gauss-Newton optimization},
  author={Davide Cucci and Matteo Matteucci},
  journal={2014 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2014},
  pages={1269-1275}
}
The design and development of the pose tracking system for an autonomous mobile robot and the time consuming calibration of its intrinsic sensor parameters (e.g., displacement, misalignment and iron distortions of an inertial measurement unit) are one of the preliminary requirements of any project involving a mobile robot platform. This paper introduces ROAMFREE, a turn-on-and-go multiple sensors pose tracking and self-calibration framework adaptable to different mobile robot platforms (e.g… CONTINUE READING

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