Vehicle 3D localization in mountainous woodland environments

Yoichi Morales, Takashi Tsubouchi, Shin'ichi Yuta

研究成果: Conference contribution

11 被引用数 (Scopus)

抄録

This paper presents an approach for vehicle 3D localization in outdoor woodland environments using a loosely coupled multisensor system. The vehicle 3D dead reckoning is computed using a wheel encoder and an IMU. Dead reckoning is corrected from three different sources: a)Using a tilted lidar for road detection and computation of the vehicle position within the road which is then corrected towards a 2D road centerline map given in advance. b) DGPS 2D or 3D data as available. c) Under tree foliage DGPS blackouts commonly occur, specially when measuring height, therefore the use of a barometer for correcting height is proposed. An extended Kalman filter is used for sensor fusion and pose estimation. Finally, the estimated vehicle height is added to the 2D map obtaining a 3D road centerline map with width (measured by the tilted lidar). Thoroughly experimentation on real mountainous woodland paths show the usefulness and robustness of the proposed approach.

本文言語English
ホスト出版物のタイトル2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
ページ3588-3594
ページ数7
DOI
出版ステータスPublished - 2009 12 11
イベント2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
継続期間: 2009 10 112009 10 15

出版物シリーズ

名前2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period09/10/1109/10/15

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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