Title :
A practical 6D robot pose estimation using GPS and IMU in outdoor
Author :
Taek Jun Oh ; Jungwon Kang ; Sijong Kim ; Myung Jin Chung
Author_Institution :
Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Daejeon, South Korea
Abstract :
The aim of this study is to estimate 6D robot pose. We estimate 6D robot pose using GPS (Global IMU(Inertial Measurement System) in outdoor. We proposed reliability method for 6D robot pose. We get 3D mapping results and compare the 3D mapping results with and without our method. The 3D mapping results with our method was more accurate.
Keywords :
mobile robots; pose estimation; reliability; robot vision; 3D mapping; 6D robot pose estimation; GPS; global IMU; inertial measurement system; mobile robot; reliability method; Electrical engineering; Estimation; Global Positioning System; Kalman filters; Reliability; Robots; 3D mapping; GPS; IMU; Pose estimation;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4673-3111-1
Electronic_ISBN :
978-1-4673-3110-4
DOI :
10.1109/URAI.2012.6463062
