ASYNCHRONOUS AND TIME-DELAYED SENSOR FUSION OF A LASER SCANNER NAVIGATION SYSTEM AND ODOMETRY |
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| Mariolino De Cecco, Luca Baglivo, Enrico Ervas, Enrico Marcuzzi |
- Abstract:
- This paper presents a description of the ‘sensor fusion’ algorithm for our proprietary new navigation system, the LS_NAV, which is based on laser range scanning data inside natural environment. The fusion is exploited between odometric navigation and the LS_NAV. In the proposed algorithm the accuracy of both navigation systems is estimated as a function of the actual manoeuvre being carried out. The method allows compensating the drift of the incremental system estimation, high data rate and noise reduction of the LS_NAV estimates. Experimental verification is carried out using an autonomous vehicle.
- Keywords:
- sensor fusion, AGV navigation, laser scanner
- Download:
- PWC-2006-TC17-004u.pdf
- DOI:
- -
- Event details
- Event name:
- XVIII IMEKO World Congress
- Title:
Metrology for a Sustainable Development
- Place:
- Rio de Janeiro, BRAZIL
- Time:
- 17 September 2006 - 22 September 2006