Localization System of the Hospital Transport Robot FIRST

Aldon, Marie-José; Benoit, Magali

doi:10.1016/s1474-6670(17)46977-1

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Pose Estimation1

Experimental Validation1

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“…This matrix is estimated by applying the covariance propagation methodology described in [10]. From the mathematical development reported in [10], we have (12) and the associated covariance matrix is Ô´Ø · µ ÔÏ Ä Ë Ø · µ´ ÔÏ Ä Ë Ø · µ · Ô´Ø µµ ½ Ô´Ø µ. …”

Section: Pose Estimationmentioning

confidence: 99%

“…In this environment, we have installed artificial identifiable beacons in strategic placements. A reference localization system that uses a laser goniometer for beacon detection and identification [12] was implanted on the robot. When a beacon is detected, the relative robot pose with respect to the beacon is estimated by triangulation.…”

Section: Experimental Validationmentioning

confidence: 99%

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