Summary
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.
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© 2006 Springer-Verlag Berlin Heidelberg
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Lamon, P., Siegwart, R. (2006). 3D Position Tracking in Challenging Terrain. In: Corke, P., Sukkariah, S. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 25. Springer, Berlin, Heidelberg . https://doi.org/10.1007/978-3-540-33453-8_44
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DOI: https://doi.org/10.1007/978-3-540-33453-8_44
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-33452-1
Online ISBN: 978-3-540-33453-8
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