A Rotating Sonar and a Differential Encoder Data Fusion for Map-Based Dynamic Localization

An optimal pose estimator for map-based mobile robot dynamic localization: experimental comparison with the EKF

“…They make use of the extended Kalman filter (EKF) for pose estimation [2][3][4] [5]. However, by linearizing a non-linear measurement model around the current predicted pose, the EKF may be very sensitive to non-linear aspects of the measurement model and may give suboptimal estimates.…”