Uncertainty and error treatment in a dynamic localization system

This paper deals with a localization imprecision quantification method based on interval analysis. We show that the localization problem can be treated as a set inversion problem. A way to solve this kind of problem is to use the formalism of interval analysis through the intermediary of the SIVIA algorithm. From a matching between the sensorial map and the theoretical map, the robot configuration is bracketed between two 3-D subpavings. The inner subpaving is supposed to contain the robot position in a guaranteed way.

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