An efficient solution to 6DOF localization using unscented Kalman filter for planetary rovers

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Volumn , Issue , 2009, Pages 4154-4159

  Sakai, Atsushi ^a   Tamura, Yuya ^a   Kuroda, Yoji ^a  

^a MEIJI UNIVERSITY   (Japan)

Author keywords

6DOF localization; Planetary rover; Slippage ratio estimation; Unscented Kalman filter; Visual odometry

Indexed keywords

6DOF LOCALIZATION; DEGREES OF FREEDOM; FEATURE POINT; GYRO DRIFT; PLANETARY ROVERS; ROUGH TERRAINS; STATE VECTOR; UNSCENTED KALMAN FILTER; VISUAL ODOMETRY; WHEEL SLIPS;

INTELLIGENT ROBOTS; NONLINEAR FILTERING; PLANETARY LANDERS;

KALMAN FILTERS;

EID: 76249129788     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2009.5354677     Document Type: Conference Paper

References (23)

1. K.S. Ali, C.A. Vanelli, J.J. Biesiadecki, M.W. Maimone, Y. Cheng, M.S. Martin, and J.W. Alexander, "Attitude and position esimation on the Mars exploration rovers", in Proc. IEEE Conf. Syst., Man, Cybern., The Big Island, HI, pp. 20-27, Oct. 2005.
2. K. Konolige, M. Agrawal, and J. Sola. "Large-scale visual odometry for rough terrain.", In Proceedings of the International Symposium on Research in Robotics, Hiroshima, Japan, November 26-29 2007.
3. G. Welch and G. Bishop. "An Introduction to the Kalman Filter", ACM SIGGRAPH, 2001.
4. D. Fox, "Adapting the Sample Size in Particle Filters through KLD-Sampling", J. Robotics Research, vol. 22, to be published, 2003.
5. Sebastian Thrun, Dieter Fox, Wolfram Burgard, and Frank Dellaert. "Robust Monte Carlo Localization for Mobile Robots.", Artifcial Intelligence, 128(1-2):99-141, 2001.
6. S. Thrun W. Burgard, D. Fox, "Probabilistic Robotics.", MIT Press, 2005.
7. Julier and J. K. Uhlmann, "General method for approximating nonlinear transformations of probability distributions", Robotics Research Group Department of Engineering Science, University of Oxford 1996.
8. R. van der Merwe, "Sigma-Point Kalman Filters for Probabilistic Inference in Dynamic State-Space Models.", PhD thesis, OGI School of Science & Engineering at Oregon Health & Science University, Portland, OR, April 2004.
9. R. Merwe, A. Doucet, N. Freitas and E. Wan, "The Unscented Particle Filter", Technical Report CUED/F-INFENG/TR 380, Cambridge University Engineering Department, 2000.
10. C.Kim, R.Sakthivel, and W.K.Chung, "Unscented FastSLAM: A robust algorithm for the simultaneous localization and mapping problem", in Proc. IEEE Int. Conf. Robot. Autom., pp. 2439-2445, 2007.
11. Helmick, D., Roumeliotis, S., Cheng, Y., Clouse, D., Bajracharya, M., Matthies, L., "Slip compensation for a Mars rover", IROS, 2005.
12. D. Lindgren, T. Hague, P. Probert Smith, and J. Marchant, "Relating torque and slip in an odometric model for an autonomous agricultural vehicle", Auton. Robots, vol. 13, no. 1, pp. 73-86, Jul. 2002.
13. L. Ojeda, D. Cruz, G. Reina, J. Borenstein, "Current-based slippage detection and odometry correction for mobile robots and planetary rovers", IEEE Transactions on Robotics 22 (2), 366-378, 2006.
14. M.W. Maimone, Y. Cheng, L. Matthies, "Two Years of Visual Odometry on the Mars Exploration Rovers", Journal of Field Robotics, Volume 24 number 3, special issue on Space Robotics, Mar. 2007.
15. K. Ni, and F. Dellaert, "Stereo tracking and three-point/one point algorithms - a robust approach in visual odometry", In International Conference on Image Processing, 2006.
16. Y. Fuke and E. Krotkov. "Dead reckoning for a lunar rover on uneven terrain", In Proceedings of the 1996 IEEE International Conference on Robotics and Automation, pages 411-416, 1996.
17. Borestein, J., Feng, L. "Gyrodometry: A New Method for Combining Data from Gyros and Odometry in Mobile Robots", Proceedings 1996 IEEE International Conference on Robotics and Automation, Vol. 1, pp 423-428, 1996.
18. D.M. Helmick, Y. Cheng, S.I. Roumeliotis, D. Clouse, and L. Matthies, "Path following using visual odometry for a Mars rover in high-slip environments", in Proc. IEEE Aerospace Conf., Big Sky, MT, 2004.
19. Biesiadecki, J. J., and M. W. Maimone, "The Mars Exploration Rover Surface Mobility Flight Software: Driving Ambition", IEEE Aerospace Conference, Big Sky, Montana, USA, Vol. 5, Mar. 2005.
20. E. T. Baumgartner, H. Aghazarian, and A. Trebi-Ollennu, "Rover localization results for the FIDO rover," in Proc. SPIE Conf. Sensor Fusion and Decentralized Control in Autonomous Robotic Systems IV, vol. 4571, Newton, MA, Oct 2001.
21. Li, R., K. Di, L.H. Matthies, R.E. Arvidson, W.M. Folkner and B.A. Archinal. "Rover Localization and Landing Site Mapping Technology for 2003 Mars Exploration Rover Mission", Journal of Photogrammetric Engineering and Remote Sensing, Vol.70(1): 77-90, 2003.
22. D. Helmick, A. Angelova, and L. Matthies, "Terrain Adaptive Navigation for Planetary Rovers", Journal of Field Robotics 26(4), 391-410, 2009
23. D. Nister, O. Naroditsky, and J. Bergen, "Visual Odometry", Proc. IEEE Computer Society Conference on Computer Vision and Patterrn Recognition, Volume 1, 2004, pp.652-659.