Fast 3D pose estimation with out-of-sequence measurements

We present an algorithm for pose estimation using fixed-lag smoothing. We show that fixed-lag smoothing enables inclusion of measurements from multiple asynchronous measurement sources in an optimal manner. Since robots usually have a plurality of uncoordinated sensors, our algorithm has an advantag...

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Bibliographic Details

Published in:	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 2486 - 2493
Main Authors:	Ranganathan, A., Kaess, M., Dellaert, F.
Format:	Conference Proceeding
Language:	English
Published:	IEEE 01.10.2007
Subjects:	Delay estimation Filtering algorithms Global Positioning System Mobile robots Robot sensing systems Simultaneous localization and mapping Smoothing methods Testing Time measurement Wheels
ISBN:	9781424409112, 142440911X
ISSN:	2153-0858
Online Access:	Get full text
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