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A Generic Bias-Correction Method with Application to Scan-Based Localization

Ji, Yiming; Yu, Changbin (Brad); Anderson, Brian; Drake, Sam


In previous work a method was proposed to determine the bias in localization algorithms using range or bearing data. In this paper the method is extended to be more generic; in particular, different types of measurement data are permitted, and there may be more measurements than there are variables to estimate. The method combines the Taylor series and Jacobian matrices to determine the bias, and leads to an easily calculated analytical bias expression, despite the general unavailability of...[Show more]

CollectionsANU Research Publications
Date published: 2011
Type: Conference paper
Source: IEEE International Conference on Control and Automation (ICCA 2011) proceedings
DOI: 10.1109/ICCA.2011.6138054


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