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Position estimation for a mobile robot using data fusion

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4 Author(s)
E. Stella ; Istituto Elaborazione Segnali ed Immagini, CNR, Italy ; G. Cicirelli ; F. P. Lovergine ; A. Distante

This paper describes a position estimation technique based on the fusion of data obtained by two independent subsystems in a mobile robot navigation context. The first subsystem is a self-location one composed of an onboard camera, an onboard image processing unit and artificial landmarks; the second one is a dead-reckoning subsystem based on odometry. The robot navigation system integrates the position estimation obtained by the vision subsystem with the position estimated by odometry using a Kalman filter framework

Published in:

Intelligent Control, 1995., Proceedings of the 1995 IEEE International Symposium on

Date of Conference:

27-29 Aug 1995