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ICRA
2002
IEEE

Trajectory Reconstruction for Self-Localization and Map Building

9 years 4 months ago
Trajectory Reconstruction for Self-Localization and Map Building
We describe a method for the reconstruction of a driven trajectory of a mobile robot if the begin and end states of the trajectory are known, and intermediate readings from odometry are available. Our method uses a Kalman filter to combine a forward and backward dead-reckoning trajectory. We show that our method is more reliable for long trajectories than just combining the dead-reckoning trajectories independently.
Stephan ten Hagen, Ben J. A. Kröse
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Stephan ten Hagen, Ben J. A. Kröse
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