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Title:

Precise Positioning of Robots with Fusion of GNSS, INS, Odometry, Barometer, Local Positioning System and Visual Localization

Document type:
Konferenzbeitrag
Contribution type:
Textbeitrag / Aufsatz
Author(s):
Patrick Henkel, Andreas Sperl, Ulrich Mittmann, Robert Bensch, Paul Färber and Christoph Günther
Pages contribution:
3078 - 3087
Abstract:
The autonomous driving of robots requires precise and reliable positioning information with low-cost sensors. In this paper, we propose a tightly coupled sensor fusion of multiple complementary sensors including GNSS-RTK, INS, odometry, Local Positioning System (LPS) and Visual Positioning. The focus of this paper is on the integration of LPS and vision since the coupling of GNSS-RTK, INS and odometry is already state of the art. We include the positions of the LPS anchors and the bearing vector...     »
Dewey Decimal Classification:
620 Ingenieurwissenschaften
Editor:
ION
Book / Congress title:
Proc. of the 31st Intern. Technical Meeting of The Satellite Division of the Institute of Navigation
Congress (additional information):
ION GNSS+ 2018
Organization:
Institute of Navigation (ION)
Date of congress:
24.09.2018 - 28.09.2018
Publisher:
Institute of Navigation (ION)
Publisher address:
Manassas, Virginia, USA
Date of publication:
27.09.2018
Year:
2018
Quarter:
3. Quartal
Year / month:
2018-09
Month:
Sep
Pages:
10
Covered by:
Scopus
Reviewed:
ja
Language:
en
Publication format:
WWW
WWW:
https://www.ion.org/publications/abstract.cfm?articleID=16097
Semester:
SS 18
TUM Institution:
Lehrstuhl für Kommunikation und Navigation
Copyright statement:
Institute of Navigation (ION)
Format:
Text
Ingested:
20.11.2018
Last change:
20.11.2018
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