Combined GPS/INS/WSS integration and visual SLAM for geo-localization of a mobile robot

Sid Ahmed Berrabah; Yvan Baudoin; Hichem Sahli

doi:10.1109/ICMECH.2011.5971337

Combined GPS/INS/WSS integration and visual SLAM for geo-localization of a mobile robot

Sid Ahmed Berrabah, Yvan Baudoin, Hichem Sahli

Vrije Universiteit Brussel

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In some outdoor applications, navigating a mobile robots needs to be geo-referenced and with hight precision. For its geo-localization, the mobile robot can use a global positioning system (GPS). This system has an accuracy of 6 to 12 meters for a typical civilian GPS receiver, depending on number of available satellites. This accuracy can be reduced to 1m by using a DGPS (Differential GPS) system which employs a second receiver at a fixed location to compute corrections to the GPS satellite measurements.

Original language	English
Title of host publication	2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
Pages	499-503
Number of pages	5
DOIs	https://doi.org/10.1109/ICMECH.2011.5971337
Publication status	Published - 2011
Event	2011 IEEE International Conference on Mechatronics, ICM 2011 - Istanbul, Turkey Duration: 13 Apr 2011 → 15 Apr 2011

Publication series

Name	2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings

Conference

Conference	2011 IEEE International Conference on Mechatronics, ICM 2011
Country/Territory	Turkey
City	Istanbul
Period	13/04/11 → 15/04/11

Keywords

Data Fusion
Geo-Localization
Simultaneous localization and Mapping

Access to Document

10.1109/ICMECH.2011.5971337

Cite this

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title = "Combined GPS/INS/WSS integration and visual SLAM for geo-localization of a mobile robot",

abstract = "In some outdoor applications, navigating a mobile robots needs to be geo-referenced and with hight precision. For its geo-localization, the mobile robot can use a global positioning system (GPS). This system has an accuracy of 6 to 12 meters for a typical civilian GPS receiver, depending on number of available satellites. This accuracy can be reduced to 1m by using a DGPS (Differential GPS) system which employs a second receiver at a fixed location to compute corrections to the GPS satellite measurements.",

keywords = "Data Fusion, Geo-Localization, Simultaneous localization and Mapping",

author = "Berrabah, {Sid Ahmed} and Yvan Baudoin and Hichem Sahli",

year = "2011",

doi = "10.1109/ICMECH.2011.5971337",

language = "English",

isbn = "9781612849836",

series = "2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings",

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note = "2011 IEEE International Conference on Mechatronics, ICM 2011 ; Conference date: 13-04-2011 Through 15-04-2011",

}

Berrabah, SA, Baudoin, Y & Sahli, H 2011, Combined GPS/INS/WSS integration and visual SLAM for geo-localization of a mobile robot. in 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings., 5971337, 2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings, pp. 499-503, 2011 IEEE International Conference on Mechatronics, ICM 2011, Istanbul, Turkey, 13/04/11. https://doi.org/10.1109/ICMECH.2011.5971337

Combined GPS/INS/WSS integration and visual SLAM for geo-localization of a mobile robot. / Berrabah, Sid Ahmed; Baudoin, Yvan; Sahli, Hichem.
2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings. 2011. p. 499-503 5971337 (2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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KW - Simultaneous localization and Mapping

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Y2 - 13 April 2011 through 15 April 2011

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Combined GPS/INS/WSS integration and visual SLAM for geo-localization of a mobile robot

Abstract

Publication series

Conference

Keywords

Access to Document

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