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Combined GPS/INS/WSS integration and Visual SLAM for Geo-Localization of a Mobile Robot. / Berrabah, Sid'Ahmed; Baudoin, Yvan; Sahli, Hichem.

IEEE International Conference on Mechatronics (ICM 2011). 2011. p. 499-503 (IEEE International Conference on Mechatronics (ICM 2011)).

Research output: Chapter in Book/Report/Conference proceedingConference paper

Harvard

Berrabah, SA, Baudoin, Y & Sahli, H 2011, Combined GPS/INS/WSS integration and Visual SLAM for Geo-Localization of a Mobile Robot. in IEEE International Conference on Mechatronics (ICM 2011). IEEE International Conference on Mechatronics (ICM 2011), pp. 499-503, Unknown, 1/01/11.

APA

Berrabah, SA., Baudoin, Y., & Sahli, H. (2011). Combined GPS/INS/WSS integration and Visual SLAM for Geo-Localization of a Mobile Robot. In IEEE International Conference on Mechatronics (ICM 2011) (pp. 499-503). (IEEE International Conference on Mechatronics (ICM 2011)).

Vancouver

Berrabah SA, Baudoin Y, Sahli H. Combined GPS/INS/WSS integration and Visual SLAM for Geo-Localization of a Mobile Robot. In IEEE International Conference on Mechatronics (ICM 2011). 2011. p. 499-503. (IEEE International Conference on Mechatronics (ICM 2011)).

Author

Berrabah, Sid'Ahmed ; Baudoin, Yvan ; Sahli, Hichem. / Combined GPS/INS/WSS integration and Visual SLAM for Geo-Localization of a Mobile Robot. IEEE International Conference on Mechatronics (ICM 2011). 2011. pp. 499-503 (IEEE International Conference on Mechatronics (ICM 2011)).

BibTeX

@inproceedings{f6f81a60528c49d5981ce8054a990578,
title = "Combined GPS/INS/WSS integration and Visual SLAM for Geo-Localization of a Mobile Robot",
abstract = "In some outdoor applications, navigating a mobile robots needs to be geo-referenced and with hight precision. For its geo-localization, the mobile robot can use a global positioning system (GPS). This system has an accuracy of 6 to 12 meters for a typical civilian GPS receiver, depending on number of available satellites. This accuracy can be reduced to 1m by using a DGPS (Differential GPS) system which employs a second receiver at a fixed location to compute corrections to the GPS satellite measurements. Another limitation for the use of GPS systems, is the necessity to operate in open aeria where the GPS receiver has permanently access to satellites. This is not always possible, especially in urban environments. This paper introduces a technique based on two Extended Kalman Filters (EKF) for robot localization in geo-referenced maps. One EKF is used to correct the GPS localization based on data from an Inertial Navigation System (INS) and wheels encoders and the second EKF is used for visual Simultaneous localization and Mapping (SLAM). This solution will increase the accuracy and the robustness of the positioning during the outage of GPS system and alows a SLAM in less featured environments.",
keywords = "SLAM, Kalman Filter",
author = "Sid'Ahmed Berrabah and Yvan Baudoin and Hichem Sahli",
year = "2011",
language = "English",
isbn = "978-1-61284-982-9",
series = "IEEE International Conference on Mechatronics (ICM 2011)",
pages = "499--503",
booktitle = "IEEE International Conference on Mechatronics (ICM 2011)",

}

RIS

TY - GEN

T1 - Combined GPS/INS/WSS integration and Visual SLAM for Geo-Localization of a Mobile Robot

AU - Berrabah, Sid'Ahmed

AU - Baudoin, Yvan

AU - Sahli, Hichem

PY - 2011

Y1 - 2011

N2 - In some outdoor applications, navigating a mobile robots needs to be geo-referenced and with hight precision. For its geo-localization, the mobile robot can use a global positioning system (GPS). This system has an accuracy of 6 to 12 meters for a typical civilian GPS receiver, depending on number of available satellites. This accuracy can be reduced to 1m by using a DGPS (Differential GPS) system which employs a second receiver at a fixed location to compute corrections to the GPS satellite measurements. Another limitation for the use of GPS systems, is the necessity to operate in open aeria where the GPS receiver has permanently access to satellites. This is not always possible, especially in urban environments. This paper introduces a technique based on two Extended Kalman Filters (EKF) for robot localization in geo-referenced maps. One EKF is used to correct the GPS localization based on data from an Inertial Navigation System (INS) and wheels encoders and the second EKF is used for visual Simultaneous localization and Mapping (SLAM). This solution will increase the accuracy and the robustness of the positioning during the outage of GPS system and alows a SLAM in less featured environments.

AB - In some outdoor applications, navigating a mobile robots needs to be geo-referenced and with hight precision. For its geo-localization, the mobile robot can use a global positioning system (GPS). This system has an accuracy of 6 to 12 meters for a typical civilian GPS receiver, depending on number of available satellites. This accuracy can be reduced to 1m by using a DGPS (Differential GPS) system which employs a second receiver at a fixed location to compute corrections to the GPS satellite measurements. Another limitation for the use of GPS systems, is the necessity to operate in open aeria where the GPS receiver has permanently access to satellites. This is not always possible, especially in urban environments. This paper introduces a technique based on two Extended Kalman Filters (EKF) for robot localization in geo-referenced maps. One EKF is used to correct the GPS localization based on data from an Inertial Navigation System (INS) and wheels encoders and the second EKF is used for visual Simultaneous localization and Mapping (SLAM). This solution will increase the accuracy and the robustness of the positioning during the outage of GPS system and alows a SLAM in less featured environments.

KW - SLAM

KW - Kalman Filter

M3 - Conference paper

SN - 978-1-61284-982-9

T3 - IEEE International Conference on Mechatronics (ICM 2011)

SP - 499

EP - 503

BT - IEEE International Conference on Mechatronics (ICM 2011)

ER -

ID: 2093888