dc.contributor.author | Arbo, Mathias Hauan | |
dc.contributor.author | Utstumo, Trygve | |
dc.contributor.author | Brekke, Edmund Førland | |
dc.contributor.author | Gravdahl, Jan Tommy | |
dc.date.accessioned | 2018-01-29T12:34:17Z | |
dc.date.available | 2018-01-29T12:34:17Z | |
dc.date.created | 2018-01-12T09:36:28Z | |
dc.date.issued | 2017 | |
dc.identifier.citation | Modeling, Identification and Control. 2017, 38 (1), 1-9. | nb_NO |
dc.identifier.issn | 0332-7353 | |
dc.identifier.uri | http://hdl.handle.net/11250/2480273 | |
dc.description.abstract | Visual Odometry (VO) is increasingly a useful tool for robotic navigation in a variety of applications, including weed removal for agricultural robotics. The methods of evaluating VO are often computationally expensive and can cause the VO measurements to be significantly delayed with respect to a compass, wheel odometry, and GPS measurements. In this paper we present a Bayesian formulation of fusing delayed displacement measurements. We implement solutions to this problem based on the unscented Kalman filter (UKF), leading to what we term an unscented multi-point smoother. The proposed methods are tested in simulations of an agricultural robot. The simulations show improvements in the localization RMS error when including the VO measurements with a variety of latencies. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | Norsk Forening for Automatisering | nb_NO |
dc.rights | Navngivelse 4.0 Internasjonal | * |
dc.rights.uri | http://creativecommons.org/licenses/by/4.0/deed.no | * |
dc.title | Unscented Multi-Point Smoother for Fusion of Delayed Displacement Measurements: Application to Agricultural Robots | nb_NO |
dc.type | Journal article | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.description.version | publishedVersion | nb_NO |
dc.source.pagenumber | 1-9 | nb_NO |
dc.source.volume | 38 | nb_NO |
dc.source.journal | Modeling, Identification and Control | nb_NO |
dc.source.issue | 1 | nb_NO |
dc.identifier.doi | 10.4173/mic.2017.1.1 | |
dc.identifier.cristin | 1541352 | |
dc.relation.project | Norges teknisk-naturvitenskapelige universitet: 218701 | nb_NO |
dc.description.localcode | © 2017 Norwegian Society of Automatic Control. Open access, published with the Creative Commons Attribution 3.0 Unported (CC BY 3.0) license. See: http://creativecommons.org/licenses/by/3.0/. | nb_NO |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | original | |
cristin.qualitycode | 1 | |