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Determination of variance in measurement of relative angle between infrared beacon and scanner
 Krejsa, Jiří ; Růžička, M. ; Vojta, J.
Mobile robot localization is one of essential components for successful robot navigation. Localization techniques based on active landmarks commonly utilize probabilistic state estimation methods, e.g. Extended Kalman filter (EKF). In order to function properly, determination of process and measurement noise variances is essential in EKF. This paper is focused on determination of variance in measurement of relative angle between the active landmark, represented by infrared beacon and device positioned on the robot, beacon scanner. Variance values are determined in a number of environment conditions. The results indicate that for the beacon type used the variance essentially holds with the percentage of unsuccessful readings being the only variable effected by changing environment. This observation justifies the usage of measured variances in EKF based localization system.
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