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Multi-Sensor Fusion for Localization and Mapping for Mobile Robots

Technischer Bericht

Links:
Autor:

Thomas Emter

Quelle:

Technischer Bericht IES-2010-07. In: Jürgen Beyerer, Marco Huber (Hrsg.), Proceedings of the 2010 Joint Workshop of Fraunhofer IOSB and Institute for Anthropomatics, Vision and Fusion Laboratory, Karlsruher Schriften zur Anthropomatik, Bd. 7, KIT Scientific Publishing, 2010.

Seiten:

91-106

ISBN:

978-3-86644-609-0

The ability of a mobile robot to localize itself in the environment is a prerequisite for autonomous navigation.This is accomplished by using different sensors. Unfortunately all sensors’ measurements are noisy and suffer from errors. Thus it is essential to combine several sensors to reduce the errors and also compensate for the shortcomings of individual sensors by means of multi-sensor fusion and simultaneous localization and mapping (SLAM).