Ego-Motion Estimation and Collision Detection for Omnidirectional Robots

  • Martin Lauer
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4434)


We propose an algorithm to estimate the ego-motion of an omnidirectional robot based on a sequence of position estimates. Thereto, we derive a motion model for omnidirectional robots and an estimation procedure to fit the model to observed positions. Additionally, we show how we can benefit from the velocity estimates deriving an algorithm that recognizes situations in which a robot is blocked by an obstacle.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  • Martin Lauer
    • 1
  1. 1.University of Osnabrück, Institute of Cognitive Science and, Institute of Computer Science, 49069 OsnabrückGermany

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