IROS 2021poster1 citations
Localization with Directional Coordinates
Charles Champagne Cossette, Mohammed Shalaby, David Saussié, James Richard Forbes
Abstract
A coordinate system is proposed that replaces the usual three-dimensional Cartesian x, y, z position coordinates, for use in robotic localization applications. Range, azimuth, and elevation measurement models become greatly simplified, and, unlike spherical coordinates, the proposed coordinates do not suffer from the same kinematic singularities and angle wraparound. When compared to Cartesian coordinates, the proposed coordinate system results in a significantly enhanced ability to represent the true distribution of robot positions, ultimately leading to large improvements in state estimation consistency.
BibTeX
@inproceedings{iros2021_localizationwith,
title = {Localization with Directional Coordinates},
author = {Charles Champagne Cossette and Mohammed Shalaby and David Saussié and James Richard Forbes},
booktitle = {IROS 2021},
year = {2021}
}