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Karl Berntorp,Karl-Erik °Arz´en,Anders Robertsson 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
The position and orientation estimation problem for mobile robots is approached by fusing measurements from inertial sensors, wheel encoders, and a camera. The sensor fusion approach is based on the standard extended Kalman filter, which is modified to handle measurements from the camera with unknown prior delay. A real-time implementation is done on a four-wheeled omni-directionalmobile robot, using a dynamicmodelwith 11 states. The algorithmis analyzed and validated with simulations and experiments.