General Solution for Linearized Error Propagation in Vehicle Odometry
Conference Paper, Proceedings of 10th International Symposium on Robotics Research (ISRR '01), pp. 545 - 558, November, 2001
Abstract
Although odometry is nonlinear, it yields sufficiently to linearized analysis to produce a closed-form transition matrix and a symbolic general solution for both deterministic and stochastic error propagation. Accordingly, error propa- gation in vehicle odometry can be understood at a level of theoretical rigor equivalent to the well-known Schuler dynamics of inertial navigation. While response to initial conditions is path-independent, response to input errors can be related to path functionals. These trajectory moments are integral transforms which function like the moment of inertia or the Laplace transform - enabling many error propagation calculations to be performed by hand in closed-form.
BibTeX
@conference{Kelly-2001-120774,author = {A. Kelly},
title = {General Solution for Linearized Error Propagation in Vehicle Odometry},
booktitle = {Proceedings of 10th International Symposium on Robotics Research (ISRR '01)},
year = {2001},
month = {November},
pages = {545 - 558},
}
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