Appendix

Contents

• Steering Motion Model
  • Turning radius calculation by steering motion model
  • Turning radius calculation by 2 consecutive positions of the robot trajectory
  • Target speed by maximum steering speed
  • References:
• KF Basics - Part I
  • Introduction
  • Variance, Covariance and Correlation
  • Gaussians
  • Gaussian Properties
  • References:
• KF Basics - Part 2
  • Probabilistic Generative Laws
  • Conditional dependence and independence example:
  • Bayes Rule:
  • Bayes Filter Algorithm
  • Bayes filter localization example:
  • Bayes and Kalman filter structure
  • Kalman Gain
  • Kalman Filter - Univariate and Multivariate
  • References:
• Internal Sensors for Robots
  • Introduction
  • Global Navigation Satellite System (GNSS)
  • Gyroscope
  • Accelerometer
  • Magnetometer
  • Inertial Measurement Unit (IMU)
  • Pressure Sensor
  • Temperature Sensor
• External Sensors for Robots
  • Introduction
  • Laser Sensors
  • Radar Sensors
  • Monocular Cameras
  • Stereo Cameras
  • Ultrasonic Sensors
  • References