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Laser based pose tracking
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-1170-7162
1999 (English)Conference paper, Published paper (Refereed)
Abstract [en]

The trend in localization is towards using more and more detailed models of the world. Our aim is to deal with the question of how simple a model can be used to provide and maintain pose information in an in-door setting. In this paper a Kalman filter based method for continuous position updating using a laser scanner is presented. By updating the position at a high frequency the matching problem becomes tractable and outliers can effectively be filtered out by means of validation gates. The experimental results presented show that the method performs very well in an in-door environment

Place, publisher, year, edition, pages
1999. 2994-3000 p.
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-52982DOI: 10.1109/ROBOT.1999.774052OAI: oai:DiVA.org:kth-52982DiVA: diva2:468380
Conference
Proc. of the IEEE International Conference on Robotics and Automation (ICRA’99)
Note
NR 20140805Available from: 2011-12-20 Created: 2011-12-20Bibliographically approved

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Jensfelt, Patric

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