"Erratum to: A Closed-Form Expression for the Uncertainty in Odometry Position Estimate of an Autonomous Vehicle"

The uncertainty of the odometry position estimate for a given vehicle can be obtained from the definition of the covariance matrix by using its kinematic model as well as its sensory system data. This communication item extends a previous work in by giving the appropriate guidelines so as to compute...

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Bibliographic Details
Published in:IEEE transactions on robotics 2007-12, Vol.23 (6), p.1302-1302
Main Authors: Tur, Josep M. Mirats, Albores-Borja, Carlos, Gordillo, Jose Luis
Format: Article
Language:English
Subjects:
Closed-form solution
Councils
Covariance matrix
Guidelines
Kinematics
Localization
Mobile robots
Navigation
Positioning uncertainty
Remotely operated vehicles
Robot sensing systems
Uncertainty
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Summary:The uncertainty of the odometry position estimate for a given vehicle can be obtained from the definition of the covariance matrix by using its kinematic model as well as its sensory system data. This communication item extends a previous work in by giving the appropriate guidelines so as to compute the cross-covariance terms between the previous position estimate and the actual increments of position. This is necessary in general because the orientation errors on the robot's previous position will affect the calculation of the actual increments of position.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2007.909797