Alice: Road Following: Difference between revisions

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* Cf. (extended) Kalman filter reading materials from [[NCS: Kalman Filtering#Reading|Monday 4/17/06]] lecture.
* Cf. (extended) Kalman filter reading materials from [[NCS: Kalman Filtering#Reading|Monday 4/17/06]] lecture.
* Cf. Moving Horizon Estimation reading materials from [[NCS: Moving Horizon Estimation#Reading|Wednesday 4/19/06]] lecture.
* Cf. Moving Horizon Estimation reading materials from [[NCS: Moving Horizon Estimation#Reading|Wednesday 4/19/06]] lecture.
* [http://www.cds.caltech.edu/~murray/papers/2005u_cm06-icra.html Model-Based Estimation of Off-Highway Road Geometry using Single-Axis LADAR and Inertial Sensing], Lars B. Cremean and Richard M. Murray, To appear, ''Proc. of 2006 International Conference on Robotics and Automation''


== Additional Resources ==
== Additional Resources ==

Revision as of 16:05, 21 April 2006

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This lecture will present a practical example application for the estimation tools presented in the Monday and Wednesday lectures. The example application is road estimation and tracking for off-highway navigation. I'll present implementation details, resources and results from live testing of an extended Kalman filter implementation, and provide resources and preliminary results for implementing moving horizon estimation to solve the same problem.

Lecture Materials

Lecture presentation slides forthcoming.

Reading

Additional Resources