Pose and velocity estimation for soccer robots

Abstract

This paper details the design and real-time implementation of a planar state estimator for soccer robots. A camera system, encoders, gyroscope and accelerometer are combined in a two-stage Kalman filter through a constant acceleration model. Inflating Noise Variance is employed to handle slip and ensure convergence in stationary periods. The approach oers substantial improvement w.r.t. the old pose estimator. This paper details the design and real-time implementation of a planar state estimator for soccer robots. A camera system, encoders, gyroscope and accelerometer are combined in a two-stage Kalman filter through a constant acceleration model. Inflating Noise Variance is employed to handle slip and ensure convergence in stationary periods. The approach oers substantial improvement w.r.t. the old pose estimator