EKF localization with variable covariance for LRS and odometry: Experimental verification

In our previous report on an integrated localization using laser range scanners (LRS) and odometry, a variable covariance depending on the number of data, predicted incident angle, and predicted distance of LRS is introduced to EKF to deal with their effects on the localization. In the present paper, this method is applied to a front steering vehicle navigated by the LRS localization and odometry data. Its experimental results show that the proposed method localize the vehicle position and the outlier of LRS data is properly vanished.