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2008
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A GPS and laser-based localization for urban and non-urban outdoor environments

8 years 10 months ago
A GPS and laser-based localization for urban and non-urban outdoor environments
— This paper introduces a localization based on GPS and laser measurements for urban and non-urban outdoor environments. In this approach, the GPS pose is Kalman filtered using wheel odometry and inertial data and tightly integrated into a Monte Carlo Localization based on 3D laser range data and a line feature reference map. By applying to this kind of sensor fusion, global localization as well as precise position tracking in close distance to buildings is enabled where only poor GPS observations are available. Following the description of the localization system, real world experiments demonstrate the functionality of the presented approach.
Matthias Hentschel, Oliver Wulf, Bernardo Wagner
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Matthias Hentschel, Oliver Wulf, Bernardo Wagner
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