Conference Contribution

Sensor Fusion for Motion Estimation of Mobile Robots with Compensation for Out-of-Sequence Measurements

Karl Berntorp, Karl-Erik Årzén, Anders Robertsson


The position and orientation estimation problem for mobile robots is approached by fusing measurements from inertial sensors, wheel encoders, and a camera. The sensor fusion approach is based on the standard extended Kalman filter, which is modified to handle measurements from the camera with unknown prior delay. A real-time implementation is done on a four-wheeled omni-directional mobile robot, using a dynamic model with 11 states. The algorithm is analyzed and validated with simulations and experiments.


mobile robotics, estimation, localization, Extended Kalman filter, out-of-sequence, sensor fusion

In 2011 11th International Conference on Control, Automation and Systems, Gyeonggi-do, Korea, October 2011.

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