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Filling the gap between low frequency measurements with their estimates
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0002-4032-4830
Eindhoven University of Technology, Eindhoven.
TNO, Helmond.
Eindhoven University of Technology, Eindhoven.
2014 (English)In: Robotics and Automation (ICRA), 2014 IEEE International Conference on, IEEE conference proceedings, 2014, 175-180 p.Conference paper, Published paper (Refereed)
Abstract [en]

The use of redundant sensors brings a rich diver-sity of information, nevertheless fusing different sensors thatrun at vastly different frequencies into a proper estimate isstill a challenging sensor fusion problem. Instead of using thesize-varying measurements and thereby the size-varying filtersduring each sampling period, we propose to find a substitute ofthe unavailable low frequency measurements such that we canavoid using different sampling frequencies in one filter. In thegap between the sampling of two low frequency measurements,the use of these substitutes produces smoother estimates. In boththe proof of concept simulation and the localization experimentperformed on an indoor soccer robot, our proposed approachexhibits an improved performance compared to the size-varyingKalman filter methods.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2014. 175-180 p.
National Category
Robotics
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-165761DOI: 10.1109/ICRA.2014.6906606OAI: oai:DiVA.org:kth-165761DiVA: diva2:808746
Conference
Robotics and Automation (ICRA), 2014 IEEE International Conference on, Hong Kong,May 31 2014-June 7 2014
Funder
Swedish Research CouncilSwedish Foundation for Strategic Research EU, FP7, Seventh Framework Programme, FP7-ICT-288533
Note

QC 20150507

Available from: 2015-04-29 Created: 2015-04-29 Last updated: 2015-05-07Bibliographically approved

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fulltext(1472 kB)115 downloads
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Wang, Yuquan

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
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  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
More languages
Output format
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