|Autors: Hensel, S., Marinov, M. B., Kupitz, C., Trendafilov, D.|
Title: Experimental Setup for Testing and Evaluation of Kalman Filter Configurations
Keywords: LiDAR, IMU, ROS
Abstract: Positioning mobile systems with high accuracy is a prerequisite for intelligent autonomous behavior, both in field robotics and in industrial environments. This paper describes the setup of a robotic platform and its use for testing and evaluating Kalman filter configurations. The setup was implemented using a Husky A200 mobile robot and a light detection and ranging (LiDAR) sensor. Five different scenarios were devised to verify the proposed setup. With these, the filters were tested for their performance in terms of position determination accuracy.
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Вид: публикация в международен форум