Multi Sensor Fusion Framework for Indoor-Outdoor Localization of Limited Resource Mobile Robots

This paper presents a sensor fusion framework that improves the localization of mobile robots with limited computational resources. It employs an event based Kalman Filter to combine the measurements of a global sensor and an inertial measurement unit (IMU) on an event based schedule, using fewer re...

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Detalhes bibliográficos
Main Authors: Pedro Albertos, Ángel Valera, Ángel Soriano, Marina Vallés, Leonardo Marín
Formato: Artigo
Idioma:Inglês
Publicado em: MDPI AG 2013-10-01
Colecção:Sensors
Assuntos:
mobile robots
pose estimation
sensor fusion
Kalman filtering
inertial sensors
robot sensing systems
dynamic model
embedded systems
global positioning systems
event based systems
Acesso em linha:http://www.mdpi.com/1424-8220/13/10/14133
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