Inertial and 3D-odometry fusion in rough terrain - Towards real 3D navigation

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Volumn 2, Issue , 2004, Pages 1716-1721

  Lamon, P ^a   Siegwart, R ^a  

^a EPFL   (Switzerland)

Author keywords

Information filter; INS; Odometry; Rough terrain

Indexed keywords

ALGORITHMS; DATA REDUCTION; DEGREES OF FREEDOM (MECHANICS); FEATURE EXTRACTION; INERTIAL NAVIGATION SYSTEMS; ROBOTICS; SENSORS;

INFORMATION FILTERS; INS; ODOMETRY; ROUGH TERRAIN;

MOBILE ROBOTS;

EID: 14044270166     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (13)

1. Bevly, D.M., Sheridan, R., Gerdes, J.C., "Integrating INS sensors with GPS velocity measurements for continuous estimation of vehicle sideslip add tire cornering stiffness", Proceedings of the American Control Conference, Volume 1, June 2001.
2. Wada, M., Kang Sup Yoon, Hashimoto, H., "High accuracy multisensor road vehicle state estimation", 26th Annual Conference of the IEEE Industrial Electronics Society, IECON 2000,Oct. 2000.
3. B. Barshan, H. F. Durrant-Whyte, "Intertial Navigation Systems for Mobile Robots", IEEE Transac. on Robotics and Automation, 1995.
4. J. Borenstein, L. Feng, "Gyrodometry: A new method for combining data from gyros and odometry in mobile robots", In the proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, April 1996.
5. Scheding, S., Dissanayake, G., Nebot, E.M., Durrant-Whyte, H., "An experiment in autonomous navigation of an underground mining vehicle", IEEE Transactions on Robotics and Automation, Volume: 15, Issue: 1, Feb. 1999
6. Siegwart R., Lamon P., Estier T., Lauria M., Piguet R., "Innovative design for wheeled locomotion in rough terrain", Journal of Robotics and Autonomous Systems, Elsevier, vol 40/2-3 p151-162.
7. Lamon P., Siegwart R., "3D-Odometry for rough terrain - Towards real 3D navigation", Proceedings of IEEE International Conference on Robotics and Automation (ICRA 2003), Taipei, May 2003.
8. J. Manyika and H. Durrant-Whyte, "Data fusion and sensor management: A decentralized information-theoretic approach", Ellis Horwood Limited, 1994.
9. D. H. Titterton, J. L. Weston, "Strapdown inertial navigation technology", Stevenage, United Kingdom: Institution of Electrical Engineers, cop. 1997.
10. Lamon, P., Krebs, A., Lauria, M., Shooter, S. and Siegwart, R., "Wheel torque control for a rough terrain rover", In Proceedings of the International Conference on Robotics and Automation, New Orleans (USA), 2004, in press.
11. A. Mallet, S. Lacroix and L. Gallo, "Postion Estimation in Outdoor Environments using Pixel Tracking and Stereovision", In International Conference on Robotics and Automation, pages 3519-3524. San Francisco, CA (USA), 2000.
12. I-K. Jung and S. Lacroix, "A robust Interest Point Matching Algorithm", In International Conference on Computer Vision. Vancouver (Canada), 2001.
13. I-K. Jung and S. Lacroix, "Simultaneous Localization and Mapping with Stereovision", International Symposium on Robotics Research, Siena, Oct 2003