Integrierte Multi-Sensor-Fusion für die simultane Lokalisierung und Kartenerstellung für mobile Robotersysteme
Abstract
In this work, probabilistic methods for combining multiple sensors utilizing multi-sensor fusion for robust and precise localization and mapping in heterogeneous outdoor environments are presented. Aspects of increasing the reliability of landmark recognition are highlighted, as well as the integration of additional absolute and relative sensors using advanced filtering techniques.
Keywords
Mobile Robotersysteme; Multi-Sensor-Fusion; Lokalisierung; Kartierung; SLAM; Mobile robotic systems; multi-sensor fusion; localization; mappingDOI
10.5445/KSP/1000128137ISBN
9783731510741, 9783731510741Publisher
KIT Scientific PublishingPublisher website
https://www.ksp.kit.edu/index.php?link=shop&sort=allPublication date and place
Karlsruhe, 2021Imprint
KIT Scientific PublishingSeries
Karlsruher Schriften zur Anthropomatik, 46Classification
Maths for computer scientists