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

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