Terrain Adaptive Estimation of Instantaneous Centres of Rotation for Tracked Robots

Figure 8

Results of dead reckoning with knowledge of ICRs. “GPS” stands for the outputs of GPS, “IEKF1” stands for the terrain adaptive odometry whose ICRs are obtained using IEKF with small , “IEKF2” stands for the terrain adaptive odometry whose ICRs are obtained using IEKF with large , “TA-EKF” stands for the terrain adaptive odometry whose ICRs are obtained using TA-EKF, and “TA-IEKF” stands for the terrain adaptive odometry whose ICRs are obtained using TA-IEKF.