Robust Data Fusion of Multimodal Sensory Information for Mobile Robots

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00229816" target="_blank" >RIV/68407700:21230/15:00229816 - isvavai.cz</a>

Result on the web

<a href="http://dx.doi.org/10.1002/rob.21535" target="_blank" >http://dx.doi.org/10.1002/rob.21535</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1002/rob.21535" target="_blank" >10.1002/rob.21535</a>

Result language

angličtina

Original language name

Robust Data Fusion of Multimodal Sensory Information for Mobile Robots

Original language description

Urban search and rescue (USAR) missions for mobile robots require reliable state estimation systems resilient to conditions given by the dynamically changing environment. We design and evaluate a data fusion system for localization of a mobile skid-steerrobot intended for USAR missions. We exploit a rich sensor suite including both proprioceptive (inertial measurement unit and tracks odometry) and exteroceptive sensors (omnidirectional camera and rotating laser rangefinder). To cope with the specificities of each sensing modality (such as significantly differing sampling frequencies), we introduce a novel fusion scheme based on an extended Kalman filter for six degree of freedom orientation and position estimation. We demonstrate the performance on field tests of more than 4.4 km driven under standard USAR conditions. Part of our datasets include ground truth positioning, indoor with a Vicon motion capture system and outdoor with a Leica theodolite tracker. The overall median accuracy

Czech name

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Czech description

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Type

J_x - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)

CEP classification

JD - Use of computers, robotics and its application

OECD FORD branch

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Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2015

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Journal of Field Robotics

ISSN

1556-4959

e-ISSN

—

Volume of the periodical

32

Issue of the periodical within the volume

4

Country of publishing house

US - UNITED STATES

Number of pages

27

Pages from-to

447-473

UT code for WoS article

000354370300002

EID of the result in the Scopus database

2-s2.0-84929288607