| UGV Localization using Multi-sensor Fusion based on Federated Filter in Outdoor Environments |
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Ji-Hoon Choi, Yong Woon Park, Sang Hyeon Joo, Seong Dae Shim, Ji Hong Min |
| 야지환경에서 연합형 필터 기반의 다중센서 융합을 이용한 무인지상로봇 위치추정 |
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최지훈, 박용운, 주상현, 심성대, 민지홍 |
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국방과학연구소 |
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| Abstract |
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This paper presents UGV localization using multi-sensor fusion based on federated filter in outdoor environments. The conventional GPS/INS integrated system does not guarantee the robustness of localization because GPS is vulnerable to external disturbances. In many environments, however, vision system is very efficient because there are many features compared to the open space and these features can provide much information for UGV localization. Thus, this paper uses the scene matching and pose estimation based vision navigation, magnetic compass and odometer to cope with the GPS-denied environments. NR-mode federated filter is used for system safety. The experiment results with a predefined path demonstrate enhancement of the robustness and accuracy of localization in outdoor environments. |
| Key Words:
Federated Filter, Localization, Scene Matching |
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