Multisensor robust localization in various environment with correlation checking test

Abstract Probabilistic localization based on Bayesian theory has been researched as a sensor fusion method to improve the robustness of localization. Pieces position information, generated by sensors’ observation models with consideration for noises, are fused according theory. However, having large noises not considered in their models, sensors output erroneous information; thus, result significant error, even when other correct ones. In this research, we have proposed system relative correlation checking test realize robust biased against others and negative others, detected excluded our between all them. The purpose paper is evaluate conducting recursive experiments various environments.