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Published in:
2006 | OriginalPaper | Chapter
3D Position Tracking in Challenging Terrain
Authors : Pierre Lamon, Roland Siegwart
Published in: Field and Service Robotics
Publisher: Springer Berlin Heidelberg
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The intent of this paper is to show how the accuracy of 3D position tracking can be improved by considering rover locomotion in rough terrain as a holistic problem. An appropriate locomotion concept endowed with a controller minimizing slip improves the climbing performance, the accuracy of odometry and the signal/noise ratio of the onboard sensors. Sensor fusion involving an inertial measurement unit, 3D-Odometry, and visual motion estimation is presented. The experimental results show clearly how each sensor contributes to increase the accuracy of the 3D pose estimation in rough terrain.