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Wheeled Mobile Robotics by Igor Skrjanc, Saso Blazic, Andrej Zdesar, Gregor Klancar

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5.3 Pose Measurement Methods

In the following the main methodologies are introduced showing how sensors are used to estimate robot pose in the environment. Those approaches can measure relative pose advancement according to previously determined pose or absolute pose according to some reference-based coordinate system.

5.3.1 Dead Reckoning

Dead reckoning (also called deduced reckoning) approaches estimate the robot’s (equipped with relative sensors) current pose from the known previous pose and relative measured displacements from the previous pose. Those displacements or motion increments (distance and orientation) are calculated from measured speeds over the elapsed time and heading. Common to those approaches is the use of path integration ...

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