A multimodal pose estimation system using EKF/UKF fusion and kinematic calibration is developed and experimentally validated for a 4WIS4WID wall-climbing robot.
Climbing robots for maintenance and inspections of vertical structures—a survey of design aspects and tech- nologies,
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Odometry Calibration and Pose Estimation of a 4WIS4WID Mobile Wall Climbing Robot
A multimodal pose estimation system using EKF/UKF fusion and kinematic calibration is developed and experimentally validated for a 4WIS4WID wall-climbing robot.