Robust pose estimation for a car-like vehicle
作者： Kane Usher , Matthew Dunbabin , P Ridley , None
DOI: 10.1109/ROBOT.2004.1302531
关键词:
摘要: In this paper, we outline the sensing system used for visual pose control of our experimental car-like vehicle, Autonomous Tractor. The consists a magnetic compass, an omnidirectional camera and low-resolution odometry system. work, information from these sensors is fused using complementary filters. Complementary filters provide means fusing with different characteristics in order to produce more reliable estimate desired variable. Here, range bearing landmarks observed by vision are vehicle model, providing states. We also present method combining compass sensor model improve heading estimate.
sci-hub.se 参考文章(10)
Peter Corke, Peter Ridley, Kane Usher, Visual servoing of a car-like vehicle - an application of omnidirectional vision Faculty of Built Environment and Engineering. ,(2002)
Gregg Buskey, Jonathan Roberts, Peter Corke, Peter Ridley, Gordon Wyeth, Sensing and Control for a Small-Size Helicopter international symposium on experimental robotics. ,vol. 8, pp. 476- 486 ,(2003) , 10.1007/3-540-36268-1_43
J.M. Roberts, P.I. Corke, R.J. Kirkham, F. Pennerath, G.J. Winstanley, A real-time software architecture for robotics and automation international conference on robotics and automation. ,vol. 2, pp. 1158- 1163 ,(1999) , 10.1109/ROBOT.1999.772518
Sebastian Thrun, Learning metric-topological maps for indoor mobile robot navigation Artificial Intelligence. ,vol. 99, pp. 21- 71 ,(1998) , 10.1016/S0004-3702(97)00078-7
Keven Weber, Svetha Venkatesh, Mandyam Srinivasan, Insect-inspired robotic homing Adaptive Behavior. ,vol. 7, pp. 65- 97 ,(1999) , 10.1177/105971239900700104
Dimitrios Lambrinos, Ralf Möller, Thomas Labhart, Rolf Pfeifer, Rüdiger Wehner, A mobile robot employing insect strategies for navigation Robotics and Autonomous Systems. ,vol. 30, pp. 39- 64 ,(2000) , 10.1016/S0921-8890(99)00064-0
Alonzo Kelly, Bryan Nagy, Reactive Nonholonomic Trajectory Generation via Parametric Optimal Control The International Journal of Robotics Research. ,vol. 22, pp. 583- 601 ,(2003) , 10.1177/02783649030227008
J. Gaspar, N. Winters, J. Santos-Victor, Vision-based navigation and environmental representations with an omnidirectional camera international conference on robotics and automation. ,vol. 16, pp. 890- 898 ,(2000) , 10.1109/70.897802
J. S. Chahl, M. V. Srinivasan, Range estimation with a panoramic visual sensor Journal of The Optical Society of America A-optics Image Science and Vision. ,vol. 14, pp. 2144- 2151 ,(1997) , 10.1364/JOSAA.14.002144
Benjamin Kuipers, Yung-Tai Byun, A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations Toward learning robots. pp. 47- 63 ,(1993)