Integrated multi-sensor fusion for mapping and localization in outdoor environments for mobile robots

Thomas Emter; Janko Petereit

doi:10.1117/12.2050401

22 May 2014 Integrated multi-sensor fusion for mapping and localization in outdoor environments for mobile robots

Thomas Emter, Janko Petereit

Proceedings Volume 9121, Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications 2014; 91210O (2014) https://doi.org/10.1117/12.2050401
Event: SPIE Sensing Technology + Applications, 2014, Baltimore, MD, United States

Abstract

An integrated multi-sensor fusion framework for localization and mapping for autonomous navigation in unstructured outdoor environments based on extended Kalman filters (EKF) is presented. The sensors for localization include an inertial measurement unit, a GPS, a fiber optic gyroscope, and wheel odometry. Additionally a 3D LIDAR is used for simultaneous localization and mapping (SLAM). A 3D map is built while concurrently a localization in a so far established 2D map is estimated with the current scan of the LIDAR. Despite of longer run-time of the SLAM algorithm compared to the EKF update, a high update rate is still guaranteed by sophisticatedly joining and synchronizing two parallel localization estimators.

Citation Download Citation

Thomas Emter and Janko Petereit "Integrated multi-sensor fusion for mapping and localization in outdoor environments for mobile robots", Proc. SPIE 9121, Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications 2014, 91210O (22 May 2014); https://doi.org/10.1117/12.2050401

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available