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Publication

3D Position Tracking in Challenging Terrain

Roland Siegwart, Pierre Lamon
2005
Conference Papers

Abstract

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 min- imizing slip improves the climbing performance, the accuracy of odometry and the signal/noise ratio of the onboard sensors. Sensor fusion involving an inertial mea- surement unit, 3D-Odometry, and visual motion estimation is presented. The exper- imental results show clearly how each sensor contributes to increase the accuracy of the 3D pose estimation in rough terrain.

Official source

https://infoscience.epfl.ch/entities/publication/73ea11d0-d89c-4a86-9282-e252d07824d7

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Roland Siegwart, Pierre Lamon
2005
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/73ea11d0-d89c-4a86-9282-e252d07824d7

About this result

Related concepts (15)

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.

Signal-to-noise ratio

Signal-to-noise ratio (SNR or S/N) is a measure used in science and engineering that compares the level of a desired signal to the level of background noise. SNR is defined as the ratio of signal power to noise power, often expressed in decibels. A ratio higher than 1:1 (greater than 0 dB) indicates more signal than noise. SNR is an important parameter that affects the performance and quality of systems that process or transmit signals, such as communication systems, audio systems, radar systems, imaging systems, and data acquisition systems.

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.

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