Mobile Robot Pose Estimation Based on Position/Velocity Sensor Fusion

An autonomous self driving platform receives information about environment using only its onboard sensors. And it seems obvious that using several sensors could provide more certain information with reduced measurement error [1]. But a general question is how to fuse measurements from different kinds of sensors (like a camera and an accelerometer) to get re?ned data about a platform or world state. This paper presents a theory based on groups that proves a possibility of correctness of error extraction from a moving model. And there are results of application this theory on fusing measurements from two sensors: odometer and scan matcher