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The three-dimensional key points that the observers can measure are triangulated for visual odometry and estimated by an extended Kalman filter. This work deals with a four-wheel-drive mobile robot with four passive suspensions. The direct and inverse kinematic solutions are deduced and used for the updating and prediction models of the extended Kalman filter as feedback for the robot\u2019s position controller. The state-estimation visual odometry results were compared with the robot\u2019s dead-reckoning kinematics, and both are combined as a recursive position controller. One observer model design is based on the analytical geometric multi-view approach. The other observer model has fundamentals on multi-view lateral optical flow, which was reformulated as nonspatial\u2013temporal and is modeled by an exponential function. This work presents the analytical deductions of the models and formulations. Experimental validation deals with five main aspects: multi-view correction, a geometric observer for range measurement, an optical flow observer for range measurement, dead-reckoning and visual odometry. Furthermore, comparison of positioning includes a four-wheel odometer, deterministic visual observers and the observer\u2013extended Kalman filter, compared with a vision-based global reference localization system.<\/jats:p>","DOI":"10.1177\/0959651818800908","type":"journal-article","created":{"date-parts":[[2018,9,24]],"date-time":"2018-09-24T05:24:05Z","timestamp":1537766645000},"page":"524-547","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":3,"title":["Divergent trinocular vision observers design for extended Kalman filter robot state estimation"],"prefix":"10.1177","volume":"233","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9163-8285","authenticated-orcid":false,"given":"Edgar Alonso","family":"Mart\u00ednez-Garc\u00eda","sequence":"first","affiliation":[{"name":"Laboratorio de Rob\u00f3tica, Institute of Engineering and Technology, Universidad Aut\u00f3noma de Ciudad Ju\u00e1rez, Ciudad Ju\u00e1rez, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Joaqu\u00edn","family":"Rivero-Ju\u00e1rez","sequence":"additional","affiliation":[{"name":"Universidad Tecnol\u00f3gica de Ciudad Ju\u00e1rez, Ciudad Ju\u00e1rez, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Luz Abril","family":"Torres-M\u00e9ndez","sequence":"additional","affiliation":[{"name":"Robotics Active Vision Group, Center for Research and Advanced Studies of the National Polytechnic Institute (CINVESTAV-IPN), Saltillo, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jorge Enrique","family":"Rodas-Osollo","sequence":"additional","affiliation":[{"name":"Laboratorio de Rob\u00f3tica, Institute of Engineering and Technology, Universidad Aut\u00f3noma de Ciudad Ju\u00e1rez, Ciudad Ju\u00e1rez, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2018,9,24]]},"reference":[{"key":"e_1_3_4_2_2","first-page":"229","volume-title":"Proceedings of the 2013 IEEE workshop on robot vision (WORV)","author":"Jeong J","unstructured":"Jeong J, Mulligan J, Correll N. 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