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

0497712 - ÚT 2019 RIV CZ eng C - Conference Paper (international conference)
Krejsa, Jiří - Věchet, Stanislav
Fusion of Local and Global Sensory Information in Mobile Robot Outdoor Localization Task.
Proceedings of the 2018 18th International Conference on Mechatronics – Mechatronika (ME) 2018. Brno: Brno University of Technology, 2018, s. 296-300. ISBN 978-80-214-5543-6.
[International Conference on Mechatronics – Mechatronika /18./. Brno (CZ), 05.12.2018-07.12.2018]
Institutional support: RVO:61388998
Keywords : mobile robot * outdoor localization * Kalman filter
OECD category: Robotics and automatic control

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.
Permanent Link: http://hdl.handle.net/11104/0291654