This chapter examines how certain properties of the world can be exploited in order for a robot or other device to develop a model of its own motion or pose (position and orientation) relative to an external frame of reference. Although this is a critical problem for many autonomous robotic systems, the problem of establishing and maintaining an orientation or position estimate of a mobile agent has a long history in terrestrial navigation.
CITATION STYLE
Dudek, G., & Jenkin, M. (2008). Inertial Sensors, GPS, and Odometry. In Springer Handbook of Robotics (pp. 477–490). Springer Berlin Heidelberg. https://doi.org/10.1007/978-3-540-30301-5_21
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