Cookies on this website
We use cookies to ensure that we give you the best experience on our website. If you click 'Continue' we'll assume that you are happy to receive all cookies and you won't see this message again. Click 'Find out more' for information on how to change your cookie settings.

Outdoor navigation poses a challenge since uneven road surface, sunshine, clutter background will cause problems for odometry, laser, and vision sensors. To improve position accuracy, single strip retroreflective beacons have been used in the localization process. But to match observed beacons during the motion of the robot is a problem since all beacons are identical. Also strong reflective objects in outdoors may cause false reading. In this paper, we describe how we use the Extended Kalman filter algorithm to integrate data scaned from the laser scanner rotating at 2Hz and readings from other sensors. The results obtained from outdoor navigation are presented.

Original publication

DOI

10.1117/12.299562

Type

Conference paper

Publication Date

01/12/1998

Volume

3210

Pages

13 - 24