Stephen Tully, George Kantor, Howie Choset. Inequality constrained Kalman filtering for the localization and registration of a surgical robot. In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011, San Francisco, CA, USA, September 25-30, 2011. pages 5147-5152, IEEE, 2011. [doi]
Abstract is missing.