Position Estimation for a Mobile Robot using Data Fusion
نویسندگان
چکیده
This paper describes a position estimation tecnique based on the fusion of data obtained by two independent subsystems in a mobile robot navigation context. The rst subsystem is a self-location one composed of an onboard camera, an onboard image processing unit and artiicial 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 lter framework.
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