Pose and velocity estimation for soccer robots

J.J. Kon; Wouter Houtman; Wouter J.P. Kuijpers; M.J.G. (René) van de Molengraft

doi:10.25609/sure.v4.2840

Pose and velocity estimation for soccer robots

J.J. Kon, Wouter Houtman, Wouter J.P. Kuijpers, M.J.G. (René) van de Molengraft

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Abstract

This paper details the design and real-time implementation of a planar state estimator for soccer robots. A camera system, encoders, gyroscope and accelerometer are combined in a two-stage Kalman filter through a constant acceleration model. Inflating Noise Variance is employed to handle slip and ensure convergence in stationary periods. The approach oers substantial improvement w.r.t. the old pose estimator.

Original language	English
Number of pages	4
Journal	Student Undergraduate Research E-Journal
Volume	4
DOIs	https://doi.org/10.25609/sure.v4.2840
Publication status	Published - 9 Nov 2018

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10.25609/sure.v4.2840Licence: CC BY-SA

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title = "Pose and velocity estimation for soccer robots",

abstract = "This paper details the design and real-time implementation of a planar state estimator for soccer robots. A camera system, encoders, gyroscope and accelerometer are combined in a two-stage Kalman filter through a constant acceleration model. Inflating Noise Variance is employed to handle slip and ensure convergence in stationary periods. The approach oers substantial improvement w.r.t. the old pose estimator.",

keywords = "localization, Pose estimation, Kalman filtering, RoboCup Middle Size League",

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AU - van de Molengraft, M.J.G. (René)

PY - 2018/11/9

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AB - This paper details the design and real-time implementation of a planar state estimator for soccer robots. A camera system, encoders, gyroscope and accelerometer are combined in a two-stage Kalman filter through a constant acceleration model. Inflating Noise Variance is employed to handle slip and ensure convergence in stationary periods. The approach oers substantial improvement w.r.t. the old pose estimator.

KW - localization

KW - Pose estimation

KW - Kalman filtering

KW - RoboCup Middle Size League

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JO - Student Undergraduate Research E-Journal

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Pose and velocity estimation for soccer robots

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