Smoother based 3D attitude estimation for mobile robot localization

Stergios I. Roumeliotis, Gaurav S. Sukhatme, George A. Bekey

Research output: Contribution to journalArticlepeer-review

60 Scopus citations


The mobile robot localization problem is decomposed into two stages: attitude estimation followed by position estimation. The innovation of this method is the use of a smoother, in the attitude estimation loop that outperforms other Kalman filter based techniques in estimate accuracy. This method is tested in simulation and the overall improvement in position estimation is demonstrated.

Original languageEnglish (US)
Pages (from-to)1979-1986
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - Jan 1 1999


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