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2007

Propagation of Uncertainty in Landmark Based Self-localization of Autonomous Mobile Robots

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Propagation of Uncertainty in Landmark Based Self-localization of Autonomous Mobile Robots
This paper presents uncertainty propagation in landmark based position estimation methods. Analysis of two methods has been carried out where robot position is estimated by detecting one or two globally distinct features using a pivoted stereo vision system. We make a basic assumption about error in estimating point features in camera images and propagate it into robot position estimate using first order approximation of non-linear functions. Simulation results illustrate the performance of the method.
Abdul Bais, Robert Sablatnig, Yahya M. Khawaja, Gr
Added 30 Oct 2010
Updated 30 Oct 2010
Type Conference
Year 2007
Where MVA
Authors Abdul Bais, Robert Sablatnig, Yahya M. Khawaja, Gregor Novak
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