Mobile robot localization by multi sensor fusion and constraint propagation
Mélanie Delafosse, A. Clerentin, Laurent Delahoche, É. Brassart, Bruno Marhic · 2004
This paper deals with a mobile robot localization method based on constraint propagation on intervals. The mobile robot is equipped with an exteroceptive sensor and dead-reckoning. These two sensors give imprecise data that are modeled by intervals. These data are fused by constraint propagation on intervals. So, at the end of the localization process, we get a 3-D subpaving which is supposed to contain the robot's position in a guaranteed way. The localization imprecision is naturally managed by our method.