A GPS and Laser-based Localization for Urban and Non-Urban Outdoor Environments

被引：39

作者：

Hentschel, Matthias ^{[1
]}

Wulf, Oliver ^{[1
]}

Wagner, Bernardo ^{[1
]}

机构：

[1] Leibniz Univ Hannover, Inst Syst Engn, Real Time Syst Grp, Hannover, Germany

来源：

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS | 2008年

关键词：

D O I：

10.1109/IROS.2008.4650585

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper introduces a localization based on GPS and laser measurements for urban and non-urban outdoor environments. In this approach, the GPS pose is Kalman filtered using wheel odometry and inertial data and tightly integrated into a Monte Carlo Localization based on 3D laser range data and a line feature reference map. By applying to this kind of sensor fusion, global localization as well as precise position tracking in close distance to buildings is enabled where only poor GPS observations are available. Following the description of the localization system, real world experiments demonstrate the functionality of the presented approach.

引用

页码：149 / 154

页数：6