Multi-Sensor SLAM Approach for Robot Navigation
o be able to operate and act successfully, the robot needs to know at any time where it is. This means the robot has to find out its location relative to the environment. This contribution introduces the increase of accuracy of mobile robot positioning in large outdoor environments based on data fus...
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IFSA Publishing, S.L.
2010-12-01
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| Series: | Sensors & Transducers |
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| Online Access: | http://www.sensorsportal.com/HTML/DIGEST/december_2010/P_SI_124.pdf |
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doaj-8fa9e5ba32c54da5a9b534ab81facda32020-11-25T02:27:02ZengIFSA Publishing, S.L.Sensors & Transducers2306-85151726-54792010-12-019Special Issue200213Multi-Sensor SLAM Approach for Robot NavigationSid Ahmed BERRABAH0Yvan BAUDOIN1Hichem SAHLI2 Royal Military Academy of Belgium (RMA), Av. de la Renaissance 30, B1000 Brussels, Belgium Royal Military Academy of Belgium (RMA), Av. de la Renaissance 30, B1000 Brussels, BelgiumVrije Universiteit Brussel (VUB), Pleilaan 2, B-1050 Brussels – Belgiumo be able to operate and act successfully, the robot needs to know at any time where it is. This means the robot has to find out its location relative to the environment. This contribution introduces the increase of accuracy of mobile robot positioning in large outdoor environments based on data fusion from different sensors: camera, GPS, inertial navigation system (INS), and wheel encoders. The fusion is done in a Simultaneous Localization and Mapping (SLAM) approach. The paper gives an overview on the proposed algorithm and discusses the obtained results. http://www.sensorsportal.com/HTML/DIGEST/december_2010/P_SI_124.pdfMulti-sensors fusionMobile robotsNavigationVisual simultaneous localization and Mapping. |
| collection |
DOAJ |
| language |
English |
| format |
Article |
| sources |
DOAJ |
| author |
Sid Ahmed BERRABAH Yvan BAUDOIN Hichem SAHLI |
| spellingShingle |
Sid Ahmed BERRABAH Yvan BAUDOIN Hichem SAHLI Multi-Sensor SLAM Approach for Robot Navigation Sensors & Transducers Multi-sensors fusion Mobile robots Navigation Visual simultaneous localization and Mapping. |
| author_facet |
Sid Ahmed BERRABAH Yvan BAUDOIN Hichem SAHLI |
| author_sort |
Sid Ahmed BERRABAH |
| title |
Multi-Sensor SLAM Approach for Robot Navigation |
| title_short |
Multi-Sensor SLAM Approach for Robot Navigation |
| title_full |
Multi-Sensor SLAM Approach for Robot Navigation |
| title_fullStr |
Multi-Sensor SLAM Approach for Robot Navigation |
| title_full_unstemmed |
Multi-Sensor SLAM Approach for Robot Navigation |
| title_sort |
multi-sensor slam approach for robot navigation |
| publisher |
IFSA Publishing, S.L. |
| series |
Sensors & Transducers |
| issn |
2306-8515 1726-5479 |
| publishDate |
2010-12-01 |
| description |
o be able to operate and act successfully, the robot needs to know at any time where it is. This means the robot has to find out its location relative to the environment. This contribution introduces the increase of accuracy of mobile robot positioning in large outdoor environments based on data fusion from different sensors: camera, GPS, inertial navigation system (INS), and wheel encoders. The fusion is done in a Simultaneous Localization and Mapping (SLAM) approach. The paper gives an overview on the proposed algorithm and discusses the obtained results.
|
| topic |
Multi-sensors fusion Mobile robots Navigation Visual simultaneous localization and Mapping. |
| url |
http://www.sensorsportal.com/HTML/DIGEST/december_2010/P_SI_124.pdf |
| work_keys_str_mv |
AT sidahmedberrabah multisensorslamapproachforrobotnavigation AT yvanbaudoin multisensorslamapproachforrobotnavigation AT hichemsahli multisensorslamapproachforrobotnavigation |
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1724844585059876864 |