The estimation theoretic sensor bias correction problem in map aided localization

International Journal of Robotics Research

Volumn 25, Issue 7, 2006, Pages 645-667

  Perera, Linthotage Dushantha Lochana ^a   Wijesoma, Wijerupage Sardha ^a   Adams, Martin David ^a  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

Author keywords

Map aiding; Mapping; Robot localization

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; CONVERGENCE OF NUMERICAL METHODS; PROBLEM SOLVING; ROBOTICS; SENSORS;

MAP AIDING; NAVIGATION SENSOR; ROBOT LOCALIZATION;

NAVIGATION SYSTEMS;

EID: 33745318662     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364906066755     Document Type: Article

References (26)

1. Bar-Shalom, Y. and Li, X. R. 2001. Estimation with Applications to Tracking and Navigation: Theory Algorithms and Software, John Wiley and Sons, Inc.
2. Barshan, B. and Durrant-Whyte, H. 1995. Inertial Navigation Systems for Mobile Robots. IEEE Transactions on Robotics and Automation 11 (3). 328-342.
3. Betke, M. and Gurvits, L. 1997. Mobile robot localization using landmarks. IEEE Transactions on Robotics and Automation 13 (2). 251-263.
4. Bingbing, L. and Adams, M. D. 2005. Multi Aided Inertial Navigation for Ground Vehicles in Outdoor Uneven Environments, Proceedings of the IEEE International Conference on Robotics and Automation, Barcelona, Spain.
5. Briechle, K. and Hanebeck, U. D. 2004. Localization of a mobile robot using relative bearing measurements. IEEE Transactions on Robotics and Automation 20 (1). 36-44.
6. Brown, R. G. and Hwang, P. Y. C. 1992. Introduction to Random Signals and Applied Kalman Filtering, 2nd Edition, John Wiley and Sons Inc.
7. Durrant-Whyte, H. 2001. A Critical Review of the State-of-the-Art in Autonomous Land vehicle Systems and Technology. Sandia Report SAND2001-3685, Albuquerque, New Mexico, Sandia National Laboratories.
8. Fang, J. C. and Wan, D. J. 1996. A Fast Initial Alignment Method for Strapdown Inertial Navigation System on Stationary Base. IEEE Transactions on Aerospace and Electronic Systems 32 (4). 1501-1505.
9. Fox, D., Burgard, W., Dellaert, F., and Thrun, S. 1999. Monte Carlo Localization: Efficient Position Estimation for Mobile Robots. Proceedings of the 16th National Conference on Artificial Intelligence (AAAI 99), Orlando, Florida.
10. Friedland, B. 1969. Treatment of Bias in Recursive Filtering. IEEE Transactions on Automatic Control 14 (4). 359-367.
11. Grewal, M. G., Weill, L. R., and Andrews, A. P. 2001. Global Positioning Systems, Inertial Navigation and Integration. New York, John Wiley and Sons Inc.
12. Hicks, S. 1993. Advanced Cruise Missile Guidance System Description. Proceedings of the IEEE 1993 National Aerospace and Electronics Conference (NEACON 1993), May 24-28.
13. Horn, R. A. and Johnson, C. R. 1985. Matrix Analysis, Cambridge University Press.
14. Hosteler, L. D. and Andreas, R. D. 1983. Nonlinear Kalman Filter Techniques for Terrain Aided Navigation. IEEE Transactions on Automatic Control 28 (3). 315-322.
15. Huster, A. and Rock, S. M. 2003. Relative Position Sensing by Monocular Vision and Inertial Rate Sensors. IEEE International Conference on Robotics and Automation, pp. 1562-1567.
16. Ignagni, M. 2000. Optimal and Suboptimal Separate Bias Kalman Estimators for a Stochastic Bias. IEEE Transactions on Automatic Control 45 (3). 547-551.
17. Kim, J. and Sukkarieh, S. 2004. Improving the Real-Time Efficiency of Inertial SLAM and Understanding its Observability, IEEE International Conference on Intelligent Robots and Systems, pp. 21-26.
18. Koifman, M. and Bar-Itzhack, Y. 1999. Inertial Navigation Systems Aided by Aircraft Dynamics, IEEE Transactions on Control Systems Technology 7: 487-497.
19. Krishnan, V. and Grobert, K. 1970. Initial Alignment of a Gimballess Inertial Navigation Systems. IEEE Transactions on Automatic Control 15 (6). 667-671.
20. Leonard, J. J. and Durrant-Whyte, H. F. 1991. Mobile Robot Localization by Tracking Geometric Beacons. IEEE Transactions on Robotics and Automation 7 (3). 376-381.
21. Martinelli, A., Tomaties, N., Tapus, A., and Siegwart, R., 2003. Simultaneous Localization and Odometry Calibration for Mobile Robot, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1499-1504.
22. Reif, K., Gunther, S., Yaz, E., and Unbehauen, R. 1999. Stochastic Stability of the Discrete-Time Extended Kalman Filter. IEEE Transactions on Automatic Control 44 (4). 714-278.
23. Roumeliotis, S. I., Sukhatme, G. S., and Bekey, G. A. 1999. Circumventing Dynamic Modeling: Evaluation of the Error-State Kalman Filter applied to Mobile Root Localization, Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1656-1663.
24. Roy, N. and Thrun, S. 1999. Online Self-Calibration for Mobile Robots, Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2292-2297.
25. Southall, B., Buxton B. F. and Marchant, J. A. 1998. Controllability and Observability: Tools for Kalman Filter Design. Proceedings. of British Machine Vision Conference BMVC 1998, Vol. 1, pp. 164-173.
26. Stronger, D. and Stone, P. 2005 Simultaneous Calibration of Action and Sensor Models on a Mobile Robot, Proceedings of the IEEE International Conference on Robotics and Automation.