Fusion of Local and Global Sensory Information in Mobile Robot Outdoor Localization Task

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61388998%3A_____%2F18%3A00497712" target="_blank" >RIV/61388998:_____/18:00497712 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Fusion of Local and Global Sensory Information in Mobile Robot Outdoor Localization Task
Original language description
During outdoor localization of on-road mobile robot the task of keeping the robot on the road requires the fusion of global (GPS, magnetometer) information with the local one (odometry, laser rangefinder data, camera images). The paper describes our approach to the task, based on nonlinear Kalman filter. Odometry serves as the input into the prediction task, followed by correction based on global sensor information and pose estimate obtained this way is further modified with respect to the environment map and local information about the position on the road.
Czech name
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Czech description
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Project
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Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 2018 18th International Conference on Mechatronics – Mechatronika (ME) 2018
ISBN
978-80-214-5543-6
ISSN
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e-ISSN
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Number of pages
5
Pages from-to
296-300
Publisher name
Brno University of Technology
Place of publication
Brno
Event location
Brno
Event date
Dec 5, 2018
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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