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Performance Characterisation of a Feature-Based Gaussian Pose Tracker for Mobile Robots in Indoor Environments

Austin, David; Hada, Yasushi

Description

This paper introduces a redundant localisation system, combining a low-cost Gaussian pose tracker and a particle filter localiser which is more CPU intensive. Ideally, the Gaussian pose tracker can be used for most of the time and the particle filter localiser switched on only when the Gaussian pose tracker fails. The problem studied here is to determine when the Gaussian pose tracker has failed. A number of different measures are proposed which indicate the state of the pose tracker....[Show more]

CollectionsANU Research Publications
Date published: 2003
Type: Conference paper
URI: http://hdl.handle.net/1885/86623
Source: Proceedings of Intelligent Robots and Systems (IROS) 2003

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