Improving Robot Localization Using Doppler-Based Variable Sensor Covariance Calculation

This paper describes a localization module for an autonomous wheelchair. This module includes a combination of various sensors such as odometers, laser scanners, IMU and Doppler speed sensors. Every sensor used in the module features variable covariance estimation in order to yield a final accurate localization. The main problem of a localization module composed of different sensors is the accuracy estimation of each sensor. Average static values are normally used, but these can lead to failure in some situations. In this paper, all the sensors have a variable covariance estimation that depends on the data quality. A Doppler speed sensor is used to estimate the covariance of the encoder odometric localization. Lidar is also used as a scan matching localization algorithm, comparing the difference between two consecutive scans to obtain the change in position. Matching quality gives the accuracy of the scan matcher localization. This structure yields a better position than a traditional odometric static covariance method. This is tested in a real prototype and compared to a standard fusion technique.