A sensor fusion-based optimization method for indoor localization
Guohao Huang,
Haibin Huang,
Weijiang Xiao
et al.
Abstract:Indoor differential-driven mobile robots play a crucial role in industrial applications such as intelligent inspection and smart transportation. In scenarios with uneven road friction and/or sharp turn, challenges remain for accurate robot localization in indoor environment. When using encoders of the wheel odometry as the sole basis, the robot will lead to significant odometry drift and inaccurate localization. To optimize the wheel odometry data, this paper presents an internal and external combined sensor f… Show more
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