TY - JOUR
T1 - Stochastic cloning
T2 - A generalized framework for processing relative state measurements
AU - Roumeliotis, Stergios I.
AU - Burdick, Joel W.
PY - 2002/1/1
Y1 - 2002/1/1
N2 - This paper introduces a generalized framework, termed "stochastic cloning," for processing relative state measurements within a Kalman filter estimator. The main motivation and application for this methodology is the problem of fusing displacement measurements with position estimates for mobile robot localization. Previous approaches have ignored the developed interdependencies (cross-correlation terms) between state estimates of the same quantities at different time instants. By directly expressing relative state measurements in terms of previous and current state estimates, the effect of these cross-correlation terms on the estimation process is analyzed and considered during updates. Simulation and experimental results validate this approach.
AB - This paper introduces a generalized framework, termed "stochastic cloning," for processing relative state measurements within a Kalman filter estimator. The main motivation and application for this methodology is the problem of fusing displacement measurements with position estimates for mobile robot localization. Previous approaches have ignored the developed interdependencies (cross-correlation terms) between state estimates of the same quantities at different time instants. By directly expressing relative state measurements in terms of previous and current state estimates, the effect of these cross-correlation terms on the estimation process is analyzed and considered during updates. Simulation and experimental results validate this approach.
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M3 - Article
AN - SCOPUS:0036055889
SN - 1050-4729
VL - 2
SP - 1788
EP - 1795
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
ER -