Using range and inertia sensors for trajectory and pose estimation Gezinge ve konum kestirim yöntemlerinde mesafe ve atalet duyargalarinin kullanimi

ÇAKMAK F., USLU E., YAVUZ S., AMASYALI M. F., Balcilar M., Altuntaş N.

2014 22nd Signal Processing and Communications Applications Conference, SIU 2014, Trabzon, Türkiye, 23 - 25 Nisan 2014, ss.506-509 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/siu.2014.6830276
  • Basıldığı Şehir: Trabzon
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.506-509
  • Anahtar Kelimeler: trajectory estimation, LSM, gMapping
  • İstanbul Gelişim Üniversitesi Adresli: Hayır

Özet

Trajectory estimation is important for mobile robots as it can be used in path extraction, distance to target estimation, obstacle avoidance and autonomous control. This work mainly focuses on trajectory and pose estimation based on range and inertia sensors without the need of wheel odometry. Mainly two different approaches are implemented for trajectory and pose estimation namely simultaneous localization and mapping (SLAM) based gMapping and iterative closest point based laser-scan-matcher (LSM) implementation is improved with the use of inertia sensor and kinematic velocity information. These methods are explained in subsections. © 2014 IEEE.