Location Estimation using Delayed Measurements

Martin Bak, Thomas Dall Larsen, Peter Magnus Nørgård, Nils Axel Andersen, Niels Kjølstad Poulsen, Ole Ravn

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Abstract

When combining data from various sensors it is vital to acknowledge possible measurement delays. Furthermore, the sensor fusion algorithm, often a Kalman filter, should be modified in order to handle the delay. The paper examines different possibilities for handling delays and applies a new technique to a sensor fusion system for estimating the location of an autonomous guided vehicle. The system fuses encoder and vision measurements in an extended Kalman filter. Results from experiments in a real environment are reported
Original languageEnglish
Title of host publicationAdvanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on
PublisherIEEE
Publication date1998
Pages180-185
ISBN (Print)0-7803-4484-7
DOIs
Publication statusPublished - 1998
EventInternational Workshop on Advanced Motion Control, AMC '98 - Coimbra, Portugal
Duration: 1 Jan 1998 → …

Conference

ConferenceInternational Workshop on Advanced Motion Control, AMC '98
CityCoimbra, Portugal
Period01/01/1998 → …

Bibliographical note

Copyright: 1998 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE

Cite this

Bak, M., Larsen, T. D., Nørgård, P. M., Andersen, N. A., Poulsen, N. K., & Ravn, O. (1998). Location Estimation using Delayed Measurements. In Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on (pp. 180-185). IEEE. https://doi.org/10.1109/AMC.1998.743533