Robust Laser Radar-Based Robot Localization Using UFIR Filtering

Abstract

The indoor robot localization becomes more and more important since the indoor robot has been widely used in our life. And the laser radar is one of the most widely used example due to its high accuracy and easy installation. In this paper, unbiased finite impulse response (UFIR)filter is employed to fusion the laser measurement, which can improve the robustness of the robot localization. The real test for the comparison of Kalman filter (KF)and UFIR filter is done to show the robustness of the UFIR filter.