Pose estimation of a vehicle on rough terrain by using the Sun direction

S. Furuki, S. Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

We are interested in the pose measurement of a rover using Sun direction while it moves on a rough terrain. First, we derived a sensor fusion formula to estimate rover pose from a three-dimensional gyro sensor, Sun direction sensor and gravity sensor. We developed a prototype of a Sun direction sensor, which can achieve fast and precise measurement even when rover pose changes dynamically. This sensor consists of a two-DOF mechanically rotational sensor base and an optical position sensing device. This sensor keeps its sensor head directed towards the Sun by controlling the two-DOF sensor base. We constructed a test system which consists of a Sun direction sensor, three gyro sensors, and an accelerometer on our mobile robot platform Yamabico AQURO.

Original languageEnglish
Title of host publicationProceedings of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2003
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages58-63
Number of pages6
ISBN (Electronic)078037987X
DOIs
Publication statusPublished - 2003 Jan 1
EventIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2003 - Tokyo, Japan
Duration: 2003 Jul 302003 Aug 1

Publication series

NameIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
Volume2003-January

Other

OtherIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2003
CountryJapan
CityTokyo
Period03/7/3003/8/1

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Keywords

  • Accelerometers
  • Gravity
  • Optical devices
  • Optical sensors
  • Prototypes
  • Sensor fusion
  • Sensor systems
  • Sun
  • System testing
  • Vehicles

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications

Cite this

Furuki, S., & Yuta, S. (2003). Pose estimation of a vehicle on rough terrain by using the Sun direction. In Proceedings of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2003 (pp. 58-63). [1232599] (IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems; Vol. 2003-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MFI-2003.2003.1232599