Fusion of multi-sensor data: a geometric approach
- 10 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 2806-2811
- https://doi.org/10.1109/robot.1991.132058
Abstract
A geometric approach is presented to solve data fusion problems. The approach uses bounded-error data parameter estimation rather than the usual statistical approach. Updating the location (orientation and position) of a mobile robot in a known polygonal environment is shown as example. The obtained recursive algorithms are similar to those of the Kalman filter with the advantage that only measures improving the estimates are considered.Keywords
This publication has 7 references indexed in Scilit:
- World modeling and position estimation for a mobile robot using ultrasonic rangingPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Estimation of parameter bounds from bounded-error data: a surveyMathematics and Computers in Simulation, 1990
- A modified EW-RLS algorithm for systems with bounded disturbancesAutomatica, 1990
- On the value of information in system identification—Bounded noise caseAutomatica, 1982
- System identification via membership set constraints with energy constrained noiseIEEE Transactions on Automatic Control, 1979
- Linear Statistical Inference and its ApplicationsPublished by Wiley ,1973
- Circumscribing an Ellipsoid about the Intersection of Two EllipsoidsCanadian Mathematical Bulletin, 1968