Open Access. Powered by Scholars. Published by Universities.®
Navigation, Guidance, Control and Dynamics Commons™
Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 1 of 1
Full-Text Articles in Navigation, Guidance, Control and Dynamics
Robust State Estimation Methods For Robotics Applications, Shounak Das
Robust State Estimation Methods For Robotics Applications, Shounak Das
Graduate Theses, Dissertations, and Problem Reports
State estimation is an integral component of any autonomous robotic system. Finding the correct position, velocity, and orientation of an agent in its environment enables it to do other tasks like mapping and interacting with the environment, and collaborating with other agents. State estimation is achieved by using data obtained from multiple sensors and fusing them in a probabilistic framework. These include inertial data from Inertial Measurement Unit (IMU), images from camera, range data from lidars, and positioning data from Global Navigation Satellite Systems (GNSS) receivers. The main challenge faced in sensor-based state estimation is the presence of noisy, erroneous, …