Loading...
conference paper
3D Position Tracking in Challenging Terrain
2005
Field and Service Robotics
The intent of this paper is to show how the accuracy of 3D position tracking can be improved by considering rover locomotion in rough terrain as a holistic problem. An appropriate locomotion concept endowed with a controller min- imizing slip improves the climbing performance, the accuracy of odometry and the signal/noise ratio of the onboard sensors. Sensor fusion involving an inertial mea- surement unit, 3D-Odometry, and visual motion estimation is presented. The exper- imental results show clearly how each sensor contributes to increase the accuracy of the 3D pose estimation in rough terrain.
Loading...
Name
pap105.pdf
Access type
openaccess
Size
682.62 KB
Format
Adobe PDF
Checksum (MD5)
b88aaecbb21cb89258d437157f50ace0