Book ChapterDOI
Inertial Sensing, GPS and Odometry
Gregory Dudek,Michael Jenkin +1 more
- pp 737-752
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TLDR
This chapter examines how certain properties of the world can be exploited in order for a robot or other device to develop a model of its own motion or pose relative to an external frame of reference.Abstract:
This chapter examines how certain properties of the world can be exploited in order for a robot or other device to develop a model of its own motion or pose (position and orientation) relative to an external frame of reference. Although this is a critical problem for many autonomous robotic systems, the problem of establishing and maintaining an orientation or position estimate of a mobile agent has a long history in terrestrial navigation.read more
Citations
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Journal ArticleDOI
Tracking Control of Mobile Robots Localized via Chained Fusion of Discrete and Continuous Epipolar Geometry, IMU and Odometry
TL;DR: A unique vision-based pose and velocity estimation scheme utilizing both the continuous and discrete forms of the Euclidean homography matrix is fused with inertial and optical encoder measurements to estimate the pose, orientation, and velocity of the robot and ensure accurate localization and control signals.
Journal ArticleDOI
A distributed protocol for motion coordination in free-range vehicular systems
TL;DR: To enable the development of supervisory policies capable of providing the necessary partial synchronization of the cell allocation, the structure of the adopted tessellation is modified by allowing the concurrent occupation of a cell by up to two vehicles at a time, instead of only one, that was assumed earlier.
Proceedings ArticleDOI
Proximity Human-Robot Interaction Using Pointing Gestures and a Wrist-mounted IMU
TL;DR: A system for interaction between co-located humans and mobile robots, which uses pointing gestures sensed by a wrist-mounted IMU, which can reconstruct pointed locations in the robot’s own reference frame, and provide real-time feedback about them so that the user can adapt to misalignments.
Proceedings ArticleDOI
Localization through fusion of discrete and continuous epipolar geometry with wheel and IMU odometry
TL;DR: A novel sensor fusion implementation to improve the accuracy of robot localization by combining multiple visual odometry approaches with wheel and IMU odometry with time varying matrices in the Kalman filter.
Journal ArticleDOI
Posture-related data collection methods for construction workers: A review
TL;DR: This paper fills the research gap by reviewing previous methods to collect posture-related data for construction workers via summarizing working principles and applications of posture- related data collection in construction management, and comparing the above methods based on data quality and feasibility on construction sites.
References
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Book
Introduction to Autonomous Mobile Robots
TL;DR: Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners.
Book
Global Positioning System: Signals, Measurements, and Performance
TL;DR: This advanced tutorial will describe the GPS signals, the various measurements made by the GPS receivers, and estimate the achievable accuracies, and focus on topics which are more unique to radio navigation or GPS.
Book
Global Positioning Systems, Inertial Navigation, and Integration
TL;DR: The authors explore the various subtleties, common failures, and inherent limitations of the theory as it applies to real-world situations, and provide numerous detailed application examples and practice problems, including GNSS-aided INS, modeling of gyros and accelerometers, and SBAS and GBAS.
Book
GPS satellite surveying
TL;DR: Elements of Satellite Surveying The Global Positioning System Adjustment Computations Least Squares Adjustment Examples Links to Physical Observations The Three-Dimensional Geodetic Model GPS Observables Propagation Media, Multipath, and Phase Center Processing GPS Carrier Phases Network Adjustments Ellipsoidal and Conformal Mapping Models Useful Transformations Datums, Standards, and Specifications Appendices References Abbreviations for Frequently Used References Indexes as discussed by the authors.