SC-KF Mobile Robot Localization: A Stochastic Cloning Kalman Filter for Processing Relative-State Measurements

This paper presents a new method to optimally combine motion measurements provided by proprioceptive sensors, with relative-state estimates inferred from feature-based matching. Two key challenges arise in such pose tracking problems: 1) the displacement estimates relate the state of the robot at two different time instants and 2) the same exteroceptive measurements are often used for computing consecutive displacement estimates, a process that...