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http://dx.doi.org/10.5302/J.ICROS.2005.11.5.457

An Estimation Method of the Covariance Matrix for Mobile Robots' Localization  

Doh Nakju Lett (한국전자통신연구원)
Chung Wan Kyun (포항공과대학교 기계공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.11, no.5, 2005 , pp. 457-462 More about this Journal
Abstract
An empirical way of a covariance matrix which expresses the odometry uncertainty of mobile robots is proposed. This method utilizes PC-method which removes systematic errors of odometry. Once the systematic errors are removed, the odometry error can be modeled using the Gaussian probability distribution, and the parameters of the distribution can be represented by the covariance matrix. Experimental results show that the method yields $5{\%}$ and $2.3{\%}$ offset for the synchro and differential drive robots.
Keywords
odometry uncertainty; relative localization; covariance matrix; generalized Voronoi graph; odometry calibration; mobile robot;
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