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Fusion of multi-sensor data: a geometric approach

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4 Author(s)
Preciado, A. ; CUTC/Heudiasyc, CNRS, Compiegne, France ; Meizel, D. ; Segovia, A. ; Rombaut, M.

A geometric approach is presented to solve data fusion problems. The approach uses bounded-error data parameter estimation rather than the usual statistical approach. Updating the location (orientation and position) of a mobile robot in a known polygonal environment is shown as example. The obtained recursive algorithms are similar to those of the Kalman filter with the advantage that only measures improving the estimates are considered

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991

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