Precise 3-D localization by automatic laser theodolite and odometer for civil-engineering machines

Author

Bouvet, D. ; Garcia, G. ; Gorham, B.J. ; Bétaille, D.

Author_Institution

Inst. de Recherche en Commun. et Cybern., Nantes, France

Volume

2

fYear

2001

fDate

2001

Firstpage

2045

Abstract

This paper presents a navigation system providing precise 3D position and spatial attitude data for slow outdoor vehicles. Our system uses an odometer and an automatic laser theodolite, the data of which are fused using a Kalman filter. We show through different experiments carried out with the evaluation station SESSYL that the high accuracies required for some civil-engineering tasks are fully satisfied, provided the beacons are properly positioned.

Keywords

Kalman filters; civil engineering; computerised navigation; distance measurement; filtering theory; measurement by laser beam; mobile robots; position measurement; sensor fusion; 3D position data; Kalman filter; SESSYL; automatic laser theodolite; civil-engineering machines; civil-engineering tasks; evaluation station; navigation system; odometer; precise 3D localization; slow outdoor vehicles; spatial attitude data; Asphalt; Communication industry; Instruments; Laser beams; Mobile robots; Navigation; Optical sensors; Roads; Theodolites; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.932908

Filename

932908