Department of Computer Science
Sensor Fusion for Robot State Estimation
Date
Monday, 03 April 2023
Time
17:00 - 18:30
Online event
Online
Abstract This lecture addresses the topic of sensor fusion for robot state estimation, which involves utilizing multiple sensors to determine a robot's position and orientation. The lecture covers various types of mobile robots and the sensors used for state estimation. Additionally, the importance of sensor fusion for accurate localization is illustrated through an example of legged robot state estimation using the Kalman filter algorithm.
Interested parties are cordially invited to follow the lecture via WebEx.
Short Biography
Mihaela Popescu is a PhD student at the University of Bremen in the Robotics Group lead by Prof. Frank Kirchner. She obtained her Master's degree from the Technical University of Dortmund, Germany, with the specialization Automation and Robotics in 2020 and her Bachelors' degree in Automation and Computer Science from the Technical University of Cluj-Napoca, Romania, in 2017. Her research interests include state estimation of legged robots, proprioceptive sensing and sensor fusion.
Papers
- Bruno Siciliano and Oussama Khatib. 2007. Springer Handbook of Robotics. Springer-Verlag, Berlin, Heidelberg. Chapter 4.2 Sensors.
- Hartley R, Ghaffari M, Eustice RM, Grizzle JW. Contact-aided invariant extended Kalman filtering for robot state estimation. The International Journal of Robotics Research. 2020;39(4):402-430. doi:10.1177/0278364919894385
- Popescu M, Mronga D, Bergonzani I, Kumar S, Kirchner F. Experimental Investigations into Using Motion Capture State Feedback for Real-Time Control of a Humanoid Robot. Sensors. 2022; 22(24):9853. https://doi.org/10.3390/s22249853
Kontakt
Location
Sankt Augustin
Room
C216
Address
Grantham-Allee 20
53757 Sankt Augustin
Telephone
+49 2241 865 9608