3D Position Tracking in Challenging Terrain
نویسندگان
چکیده
The intent of this paper is to show how the accuracy of 3D position tracking can be improved by considering rover locomotion in rough terrain as a holistic problem. An appropriate locomotion concept endowed with a controller minimizing slip improves the climbing performance, the accuracy of odometry and the signal/noise ratio of the onboard sensors. Sensor fusion involving an inertial measurement unit, 3D-Odometry, and visual motion estimation is presented. The experimental results show clearly how each sensor contributes to increase the accuracy of the 3D pose estimation in rough terrain.
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تاریخ انتشار 2005