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Vol. 9, Special Issue, December 2010, pp.200-213

 

Bullet

Multi-Sensor SLAM Approach for Robot Navigation

 

*,**Sid Ahmed BERRABAH, *Yvan BAUDOIN, **Hichem SAHLI

* Royal Military Academy of Belgium (RMA), Av. de la Renaissance 30, B1000 Brussels, Belgium

** Vrije Universiteit Brussel (VUB), Pleilaan 2, B-1050 Brussels Belgium

E-mail: sidahmed.berrabah@rma.ac.be

 

 

Received: 27 September 2010   /Accepted: 30 November 2010   /Published: 30 December 2010

 

Abstract: To be able to operate and act successfully, the robot needs to know at any time where it is. This means the robot has to find out its location relative to the environment. This contribution introduces the increase of accuracy of mobile robot positioning in large outdoor environments based on data fusion from different sensors: camera, GPS, inertial navigation system (INS), and wheel encoders. The fusion is done in a Simultaneous Localization and Mapping (SLAM) approach. The paper gives an overview on the proposed algorithm and discusses the obtained results.

 

Keywords: Multi-sensors fusion, Mobile robots, Navigation, Visual simultaneous localization and Mapping.

 

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