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Robust pose estimation for a car-like vehicle

Usher, Kane, Dunbabin, Matthew, Corke, Peter, & Ridley, Peter (2004) Robust pose estimation for a car-like vehicle. In Proceedings 2004 IEEE International Conference on Robotics and Automation ICRA '04, IEEE, Hilton New Orleans Riverside Hotel, New Orleans, Louisiana, USA, pp. 5129-5134.

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Abstract

In this paper, we outline the sensing system used for the visual pose control of our experimental car-like vehicle, the autonomous tractor. The sensing system consists of a magnetic compass, an omnidirectional camera and a low-resolution odometry system. In this work, information from these sensors is fused using complementary filters. Complementary filters provide a means of fusing information from sensors with different characteristics in order to produce a more reliable estimate of the desired variable. Here, the range and bearing of landmarks observed by the vision system are fused with odometry information and a vehicle model, providing a more reliable estimate of these states. We also present a method of combining a compass sensor with odometry and a vehicle model to improve the heading estimate.

Impact and interest:

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ID Code: 33849
Item Type: Conference Paper
Keywords: autonomous tractor, sensing system, robust pose estimation, omnidirectional camera, magnetic compass, car-like vehicle, low-resolution odometry system, visual pose control, agricultural machinery, distance measurement, image sensors, mobile robots, position control, robust control
DOI: 10.1109/ROBOT.2004.1302531
ISBN: 0-7803-8232-3 Print
ISSN: 1050-4729
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2004 IEEE
Copyright Statement: Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Deposited On: 29 Sep 2010 15:30
Last Modified: 30 Sep 2010 00:35

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