Robust pose estimation for a car-like vehicle
Robust pose estimation for a car-like vehicle
- Neue Suche nach: Usher, K.
- Neue Suche nach: Dunbabin, M.
- Neue Suche nach: Corke, P.
- Neue Suche nach: Ridley, P.
- Neue Suche nach: Usher, K.
- Neue Suche nach: Dunbabin, M.
- Neue Suche nach: Corke, P.
- Neue Suche nach: Ridley, P.
In this paper, we outline the sensing system used for the visual pose control of our experimental car-like vehicle, the autonomous tractor. The sensing system consists of a magnetic compass, an omnidirectional camera and a low-resolution odometry system. In this work, information from these sensors is fused using complementary filters. Complementary filters provide a means of fusing information from sensors with different characteristics in order to produce a more reliable estimate of the desired variable. Here, the range and bearing of landmarks observed by the vision system are fused with odometry information and a vehicle model, providing a more reliable estimate of these states. We also present a method of combining a compass sensor with odometry and a vehicle model to improve the heading estimate.
Dokumentinformationen
Robust pose estimation for a car-like vehicle
2004
6 Seiten, 11 Quellen
Aufsatz (Konferenz)
Englisch
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