Communication to: Close form for expressing the uncertainty in odometry position estimate. Application to an autonomous vehicle

摘要

The uncertainty of the odometry position estimate for a given vehicle can be obtained from the definition of the covariance matrix by using its kinematic model as well as its sensory system data. This communication item extends a previous work in [1] by giving the appropriate guidelines so as to compute the cross-covariance terms between the previous position estimate and the actual increments of position. This is necessary in general because the orientation errors on the robot’s previous position will affect the calculation of the actual increments of position.