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robot_localization dual-EKF: where did the idea come from?

We're currently using the dual-EKF scheme described in the documentation and the configuration example for using two instances of robot_localization: one for estimating the map->odom transformation, and another for odom->base_link transformation. So far, it's a working pretty well. My question: who invented this scheme? Is it common practice for UGV localization, and if yes, is there some literature out there about it? I haven't had any luck turning up a paper that talks about the pros/cons of this technique.

robot_localization dual-EKF: where did the idea come from?

We're currently using the dual-EKF scheme described in the documentation and the configuration example for using two instances of robot_localization: one for estimating the map->odom transformation, and another for odom->base_link transformation. So far, it's a working pretty well. My question: who invented this scheme? Is it common practice for UGV localization, and if yes, is there some literature out there about it? I haven't had any luck turning up a paper that talks about the pros/cons of this technique.

robot_localization dual-EKF: where did the idea come from?

We're currently using the dual-EKF scheme described in the documentation and the configuration example for using two instances of robot_localization: one for estimating the map->odom transformation, and another for odom->base_link transformation. So far, it's a working pretty well. My question: who invented this scheme? Is it common practice for UGV localization, and if yes, is there some literature out there about it? I haven't had any luck turning up a paper that talks about the pros/cons of this technique.

robot_localization dual-EKF: where did the idea come from?

We're currently using the dual-EKF scheme described in the documentation and the configuration example for using two instances of robot_localization: one for estimating the map->odom transformation, and another for odom->base_link transformation. So far, it's a working pretty well. My question: who invented this scheme? Is it common practice for UGV localization, and if yes, is there some literature out there about it? I haven't had any luck turning up a paper that talks about the pros/cons of this technique.