Range-domain integration of GPS and laser-scanner measurements for outdoor navigation

Proceedings of the Institute of Navigation - 19th International Technical Meeting of the Satellite Division, ION GNSS 2006

Volumn 2, Issue , 2006, Pages 1115-1123

  Joerger, Mathieu ^a,b   Pervan, Boris ^a,c  

^a ILLINOIS INSTITUTE OF TECHNOLOGY   (United States)

^b Illinois Institute of Technology   (United States)

^c IIT   (India)

Author keywords

[No Author keywords available]

Indexed keywords

GPS SIGNALS; LASER SCANNER MEASUREMENTS; NAVIGATION ALGORITHMS; RANGE DOMAIN INTEGRATION;

ALGORITHMS; GLOBAL POSITIONING SYSTEM; GROUND VEHICLES; KALMAN FILTERS; LASER APPLICATIONS; SATELLITES;

NAVIGATION;

EID: 34247116087     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (19)

1. K. Bossert, "Reclaiming Kaho'olawe", Geospatial Solutions, Vol. 14, No. 9, September 2004.
2. M. O'Connor, "Carrier-Phase Differential GPS for Automatic Control of Land Vehicles," PhD Dissertation, Stanford University, 1997
3. J. A. Farrell, T. Han-Shue, and Y. Yunchun, "Carrier Phase GPS-Aided ENS-Based Vehicle Lateral Control," Journal of Dynamic Systems, Measurement, and Control, Transactions of the ASME, Vol. 125, pp. 339-353, 2003.
4. Greenspan, R., "GPS and Inertial Integration," The Global Positioning System: Theory and Applications, B. W. Parkinson, J. J. Spilker, Jr., P. Axelrad, P. Enge, editors, AIAA Progress in Aeronautics and Astronautics Volume 163-4, Washington, DC, 1996
5. J. Leonard, and H. Durrant-Whyte, "Directed Sonar Sensing for Mobile Robot Navigation," Kluwer Academic, 1992.
6. M. Joerger, and B. Pervan, "Autonomous Ground Vehicle Navigation Using Integrated GPS and Laser-scanner Measurements," Proc. ION/IEEE PLANS, April 2006.
7. I. Tena Ruiz, Y. Petillot, D. M. Lane, and C. Salson, "Feature Extraction and Data Association for AUV Concurrent Mapping and Localisation," Proc. IEEE-ICRA, 2001
8. S. Thrun, "Robotic Mapping: A Survey," Exploring Artificial Intelligence in the New Millenium, G. Lakemeyer and B. Nebel, February 2002.
9. M. Joerger, J. Christ, R. Duncan, and B. Pervan, "Integrated Design of an AGV for Improved GPS-based Path-Following Performance," International Journal of Vehicle Design, Vol. 42, Nos. 3/4, 2006
10. M. Joerger, J. Christ, R. Duncan, and B. Pervan, "Design of an AGV for Improved CDGPS-based Control Performance," Proc. ION GNSS, September 2004.
11. D. Lawrence, "Aircraft Landing Using GPS: Development and Evaluation of a Real Time System for Kinematic Position using the Global Positioning System", PhD Dissertation, Stanford University, 1996
12. A. E. Bryson and L. J. Henrikson, "Estimation Using Sampled Data Containing Sequentially Correlated Noise," AIAA J. Spacecraft, Vol. 5. No. 6, June 1968.
13. A. E. Bryson, Applied Linear Optimal Control, Cambridge University Press, 2002.
14. C. Ye, and J. Borenstein, "Characterization of a 2-D Laser Scanner for Mobile Robot Obstacle Negotiation," Proc. IEEE-ICRA, May 2002.
15. R. Madhavan, H. Durrant-Whyte, and G. Dissanayake, "Natural Landmark-based Autonomous Navigation using Curvature Scale Space," Proc. IEEE-ICRA, 2002.
16. F. Tang, M. Adams, J. Ibanez-Guzman and W. S. Wijesoma, "Pose Invariant, Robust Feature extraction From Range Data With a Modified Scale Space Approach," Proc. IEEE-ICRA, 2004.
17. Y, Bar-Shalom, and T. E. Fortmann, "Tracking and Data Association," Mathematics in Science and Engineering, Vol. 179, Academic Press, 1988.
18. G. Dissanayake, P. Newman, S. Clark, H. Durrant-Whyte and M. Csorba, "A Solution to the Simultaneous Localization and Map Building (SLAM) Problem," IEEE Trans. On Robotics and automation, Vol. 17, No. 3, June 2001.
19. D. Maksarov, and H. Durrant-Whyte, "Mobile Vehicle Navigation in Unknown environments: a multiple hypothesis approach," IEEE Proc. Control Theory Appl., Vol. 142, No. 4, July 1995.