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Proceedings Paper

Toward fusion of camera-based egomotion and inertial navigation for a UGV (unmanned ground vehicle) traversing natural terrain
Author(s): Gary Haas; William Oberle
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Paper Abstract

A UGV (unmanned ground vehicle) can better accomplish autonomous mobility through fusion of multiple sensors that provide information concerning the vehicle's location and orientation within the world. Fusion requires an understanding of the constituent elements. This paper describes the application of an egomotion estimator to a sequence of data from a forward-facing video camera on a surrogate UGV, compares the resulting egomotion estimates to those from a co-located inertial navigation system, and defines measures of consistency of the paired observations.

Paper Details

Date Published: 2 September 2004
PDF: 11 pages
Proc. SPIE 5422, Unmanned Ground Vehicle Technology VI, (2 September 2004); doi: 10.1117/12.542181
Show Author Affiliations
Gary Haas, Army Research Lab. (United States)
William Oberle, Army Research Lab. (United States)

Published in SPIE Proceedings Vol. 5422:
Unmanned Ground Vehicle Technology VI
Grant R. Gerhart; Chuck M. Shoemaker; Douglas W. Gage, Editor(s)

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