Laser based pose tracking
- 20 January 2003
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 4, 2994-3000
- https://doi.org/10.1109/robot.1999.774052
Abstract
The trend in localization is towards using more andmore detailed models of the world. Our aim has beento answer the question "How simple a model can beused to provide and maintain pose information in anin-door setting?". In this paper a Kalman filter basedmethod for continuous position updating using a laserscanner is presented. By updating the position at ahigh frequency the matching problem becomes tractableand outliers can effectively be filtered out by means ofvalidation gates....Keywords
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