Multi-modal Odometry System with Kinematic Constraints that Enhances Motion Estimation for Mobile Robots
Multi-modal Odometry System with Kinematic Constraints that Enhances Motion Estimation for Mobile Robots
Enhanced robots pose estimation accuracy through a hierarchical sensor fusion of LiDAR, Inertial, and wheel encoders with considering kinematic motion constraints reducing the trajectory error 72% compared to state-of-the-art methods enabling safer and more reliable robot operation in complex environments and reducing potential for costly failures.
Developed Extended Kalman Filter and adaptive optimization for robust, and real-time odometry.
