Lamon, P.Siegwart, R.2006-12-072006-12-072006-12-07200510.1007/978-3-540-33453-8_44https://infoscience.epfl.ch/handle/20.500.14299/237738WOS:000241438000044The 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.text::conference output::conference proceedings::conference paper