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Fusion of Local and Global Sensory Information in Mobile Robot Outdoor Localization Task
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SYSNO ASEP 0497712 Document Type C - Proceedings Paper (int. conf.) R&D Document Type Conference Paper Title Fusion of Local and Global Sensory Information in Mobile Robot Outdoor Localization Task Author(s) Krejsa, Jiří (UT-L) RID, ORCID
Věchet, Stanislav (UT-L) RID, ORCIDNumber of authors 2 Source Title Proceedings of the 2018 18th International Conference on Mechatronics – Mechatronika (ME) 2018. - Brno : Brno University of Technology, 2018 - ISBN 978-80-214-5543-6 Pages s. 296-300 Number of pages 5 s. Publication form Medium - C Action International Conference on Mechatronics – Mechatronika /18./ Event date 05.12.2018 - 07.12.2018 VEvent location Brno Country CZ - Czech Republic Event type WRD Language eng - English Country CZ - Czech Republic Keywords mobile robot ; outdoor localization ; Kalman filter Subject RIV JD - Computer Applications, Robotics OECD category Robotics and automatic control Institutional support UT-L - RVO:61388998 Annotation 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. Workplace Institute of Thermomechanics Contact Marie Kajprová, kajprova@it.cas.cz, Tel.: 266 053 154 ; Jana Lahovská, jaja@it.cas.cz, Tel.: 266 053 823 Year of Publishing 2019
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