Improving multimodal data fusion for mobile robots by trajectory smoothing

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F16%3A00300742" target="_blank" >RIV/68407700:21730/16:00300742 - isvavai.cz</a>
Alternative codes found
RIV/68407700:21230/16:00300742
Result on the web
<a href="http://dx.doi.org/10.1016/j.robot.2016.07.006" target="_blank" >http://dx.doi.org/10.1016/j.robot.2016.07.006</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.robot.2016.07.006" target="_blank" >10.1016/j.robot.2016.07.006</a>

Result language
angličtina
Original language name
Improving multimodal data fusion for mobile robots by trajectory smoothing
Original language description
Localization of mobile robots is still an important topic, especially in case of dynamically changing, complex environments such as in Urban Search & Rescue (USAR). In this paper we aim for improving the reliability and precision of localization of our multimodal data fusion algorithm. Multimodal data fusion requires resolving several issues such as significantly different sampling frequencies of the individual modalities. We compare our proposed solution with the well-proven and popular Rauch–Tung–Striebel smoother for the Extended Kalman filter. Furthermore, we improve the precision of our data fusion by incorporating scale estimation for the visual modality.
Czech name
—
Czech description
—

Type
J<sub>x</sub> - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
—

Project
<a href="/en/project/GA14-13876S" target="_blank" >GA14-13876S: Perception methods for long-term autonomy of mobile robots</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Similar results(10)