Publication

3D-Odometry for rough terrain - Towards real 3D navigation

Roland Siegwart, Pierre Lamon
2003
Conference Papers

Abstract

Up to recently autonomous mobile robots were mostly designed to run within an indoor, yet partly structured and flat, environment. In rough terrain many problems arise and position tracking becomes more difficult. The robot has to deal with wheel slippage and large orientation changes. In this paper we will first present the recent developments on the off-road rover Shrimp. Then a new method, called 3D-Odometry, which extends the standard 2D odometry to the 3D space will be developed. Since it accounts for transitions, the 3D-Odometry provides better position estimates. It will certainly help to go towards real 3D navigation for outdoor robots.

Official source

https://infoscience.epfl.ch/entities/publication/1ecd1a2b-2808-4266-bb0a-e921576ea5d9

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Roland Siegwart, Pierre Lamon
2003
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/1ecd1a2b-2808-4266-bb0a-e921576ea5d9

About this result

Related concepts (32)

Visual odometry

In robotics and computer vision, visual odometry is the process of determining the position and orientation of a robot by analyzing the associated camera images. It has been used in a wide variety of robotic applications, such as on the Mars Exploration Rovers. In navigation, odometry is the use of data from the movement of actuators to estimate change in position over time through devices such as rotary encoders to measure wheel rotations.

Pose tracking

In virtual reality (VR) and augmented reality (AR), a pose tracking system detects the precise pose of head-mounted displays, controllers, other objects or body parts within Euclidean space. Pose tracking is often referred to as 6DOF tracking, for the six degrees of freedom in which the pose is often tracked. Pose tracking is sometimes referred to as positional tracking, but the two are separate. Pose tracking is different from positional tracking because pose tracking includes orientation whereas and positional tracking does not.

Robotics

Robotics is an interdisciplinary branch of electronics and communication, computer science and engineering. Robotics involves the design, construction, operation, and use of robots. The goal of robotics is to design machines that can help and assist humans. Robotics integrates fields of mechanical engineering, electrical engineering, information engineering, mechatronics engineering, electronics, biomedical engineering, computer engineering, control systems engineering, software engineering, mathematics, etc.

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3D-Odometry for rough terrain - Towards real 3D navigation

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