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Despite of many efforts by researches, real-time localization of mobile robot only using onboard sensor is still an open problem in mobile robotics. To contribute this research area, in this paper, a simple and effective method is proposed based on an adaptive estimator for estimating the position and linear velocity of a mobile robot in an unknown and unstructured environment using measurements of...
This paper presents a novel and effective method for estimating the position and linear velocity of a mobile robot in real-time in unknown environments by fusing visual information from an omnidirectional vision system with the measurements of an inertial sensor system. Based on a new projection model of the omnidirectional vision system, we propose a novel adaptive algorithm, similar to the Slotine-Li...
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