Original title: Fusion of Local and Global Sensory Information in Mobile Robot Outdoor Localization Task
Authors: Krejsa, Jiří ; Věchet, Stanislav
Document type: Papers
Conference/Event: International Conference on Mechatronics – Mechatronika /18./, Brno (CZ), 20181205
Year: 2018
Language: eng
Abstract: During outdoor localization of on-road mobile robot the task of keeping the robot on the road requires the fusion of global (GPS, magnetometer) information with the local one (odometry, laser rangefinder data, camera images). The paper describes our approach to the task, based on nonlinear Kalman filter. Odometry serves as the input into the prediction task, followed by correction based on global sensor information and pose estimate obtained this way is further modified with respect to the environment map and local information about the position on the road.
Keywords: Kalman filter; mobile robot; outdoor localization
Host item entry: Proceedings of the 2018 18th International Conference on Mechatronics – Mechatronika (ME) 2018, ISBN 978-80-214-5543-6

Institution: Institute of Thermomechanics AS ČR (web)
Document availability information: Fulltext is available at the institute of the Academy of Sciences.
Original record: http://hdl.handle.net/11104/0291654

Permalink: http://www.nusl.cz/ntk/nusl-391458


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Research > Institutes ASCR > Institute of Thermomechanics
Conference materials > Papers