NDLI: Online estimation of variance parameters: Experimental results with applications to localization

Content Provider	IEEE Xplore Digital Library
Author	Erinc, G. Pillonetto, G. Carpin, S.
Copyright Year	2008
Description	Author affiliation: Dept. of Inf. Eng., Univ. of Padova, Padova (Pillonetto, G.) \|\| Sch. of Eng., Univ. of California, Merced, CA (Erinc, G.; Carpin, S.)
Abstract	This paper presents an experimental validation of an online estimation algorithm we recently investigated theoretically. One of the peculiar characteristics of the approach we propose is the ability to perform an online estimation of the variance parameters that regulate the dynamics of the nonlinear dynamical model used. The approach exploits and extends classical iterated Kalman filtering equations by propagating an approximation of the marginal posterior of the unknown variances over time. The method has been previously used to model and solve a localization task for multiple robots equipped only with a sensor returning mutual distances. In this paper we present a first experimental validation of the algorithm that complements and confirms our initial promising theoretical findings. Our current implementation relies on a sensor returning distance estimates based on a simple image processing algorithm. Such sensor is inherently and intentionally noisy, and in this study we show that our technique is capable of appropriately estimating the variance describing the noise affecting this sensor. We conclude proving experimentally that the procedure we present ensures a performance comparable to similar algorithms that require significantly more a priori information.
Starting Page	1890
Ending Page	1895
File Size	368152
Page Count	6
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4650633
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Robots Distance measurement Robot kinematics Covariance matrix Mathematical model Noise
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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