Comparison of UGV Position Estimation Equipped With GNSS-RTK and GPS Using EKF

2020 ◽  
Author(s):  
Hesham Ismail ◽  
Thani Althani ◽  
Mohammed Minhas Anzil ◽  
Prashanth Subramaniam
Keyword(s):  
Extreme Temperature ◽  
Processing Technique ◽  
Position Estimation ◽  
Image Processing Technique ◽  
Measurement Unit ◽  
Unmanned Ground Vehicle ◽  
Camera System ◽  
Ground Vehicle ◽  
Positioning Device ◽  
Global Navigation Satellite

Abstract Site assessments for bifacial Photovoltaic (PV) installation are quite challenging to conduct manually due to the area size and the extreme temperature conditions at desert sites. We designed and built an autonomous Unmanned Ground Vehicle (UGV) fitted with a Global Navigation Satellite Network-System Real-Time Kinematic (GNSS-RTK) positioning device, an Inertial Measurement Unit (IMU), encoder to improve and aid site assessments in desert condition. Sandy terrains deserts are challenging for UGV’s because they increase the likelihood of wheel slippage due to reduced traction. Sensor details such as IMU, GNSS-RTK, and encoder should be taken into consideration to account for the errors that the desert terrains pose. This study compared the Extended Kalman Filter (EKF) for standard GPS & GNSS-RTK to verify which performs better for the UGV’s position estimation. The estimated UGV’s position from the kinematics model and EKF are validated using a drone camera system that uses an image processing technique to verify the UGV’s position with the help of the visible reference cones. Throughout the experiments, the GNSS-RTK performed better than GPS. Also, the EKF performed as well as the GNSS-RTK by trusting it more than the encoder/gyroscope reading.

scholarly journals Moving Horizon Estimation for GNSS-IMU sensor fusion

2020 ◽  
pp. 112-122
Author(s):  
Guido Sánchez ◽  
Marina Murillo ◽  
Lucas Genzelis ◽  
Nahuel Deniz ◽  
Leonardo Giovanini
Keyword(s):  
Kalman Filter ◽  
Sensor Fusion ◽  
Satellite System ◽  
Measurement Unit ◽  
Moving Horizon Estimation ◽  
Ground Vehicle ◽  
Global Navigation Satellite ◽  
Time Systems ◽  
True Values

The aim of this work is to develop a Global Navigation Satellite System (GNSS) and Inertial Measurement Unit (IMU) sensor fusion system. To achieve this objective, we introduce a Moving Horizon Estimation (MHE) algorithm to estimate the position, velocity orientation and also the accelerometer and gyroscope bias of a simulated unmanned ground vehicle. The obtained results are compared with the true values of the system and with an Extended Kalman filter (EKF). The use of CasADi and Ipopt provide efficient numerical solvers that can obtain fast solutions. The quality of MHE estimated values enable us to consider MHE as a viable replacement for the popular Kalman Filter, even on real time systems.

scholarly journals Ford Campus vision and lidar data set

2011 ◽  
Vol 30 (13) ◽  
pp. 1543-1552 ◽  
Author(s):  
Gaurav Pandey ◽  
James R McBride ◽  
Ryan M Eustice
Keyword(s):  
Three Dimensional ◽  
Measurement Unit ◽  
Small Scale ◽  
Data Sets ◽  
Camera System ◽  
Data Set ◽  
Mapping Algorithms ◽  
Ground Vehicle ◽  
Localization And Mapping ◽  
Vehicle Path

In this paper we describe a data set collected by an autonomous ground vehicle testbed, based upon a modified Ford F-250 pickup truck. The vehicle is outfitted with a professional (Applanix POS-LV) and consumer (Xsens MTi-G) inertial measurement unit, a Velodyne three-dimensional lidar scanner, two push-broom forward-looking Riegl lidars, and a Point Grey Ladybug3 omnidirectional camera system. Here we present the time-registered data from these sensors mounted on the vehicle, collected while driving the vehicle around the Ford Research Campus and downtown Dearborn, MI, during November–December 2009. The vehicle path trajectory in these data sets contains several large- and small-scale loop closures, which should be useful for testing various state-of-the-art computer vision and simultaneous localization and mapping algorithms.

scholarly journals IMU-Aided High-Frequency Lidar Odometry for Autonomous Driving

2019 ◽  
Vol 9 (7) ◽  
pp. 1506 ◽  
Author(s):  
Hanzhang Xue ◽  
Hao Fu ◽  
Bin Dai
Keyword(s):  
High Frequency ◽  
Inertial Measurement Unit ◽  
Autonomous Driving ◽  
Initial Guess ◽  
Measurement Unit ◽  
Unmanned Ground Vehicle ◽  
Ground Vehicle ◽  
Diverse Environment ◽  
Novel Method ◽  
Localization Information

For autonomous driving, it is important to obtain precise and high-frequency localization information. This paper proposes a novel method in which the Inertial Measurement Unit (IMU), wheel encoder, and lidar odometry are utilized together to estimate the ego-motion of an unmanned ground vehicle. The IMU is fused with the wheel encoder to obtain the motion prior, and it is involved in three levels of the lidar odometry: Firstly, we use the IMU information to rectify the intra-frame distortion of the lidar scan, which is caused by the vehicle’s own movement; secondly, the IMU provides a better initial guess for the lidar odometry; and thirdly, the IMU is fused with the lidar odometry in an Extended Kalman filter framework. In addition, an efficient method for hand–eye calibration between the IMU and the lidar is proposed. To evaluate the performance of our method, extensive experiments are performed and our system can output stable, accurate, and high-frequency localization results in diverse environment without any prior information.

A New Image Processing Technique for STEM

1974 ◽  
Vol 32 ◽  
pp. 432-433
Author(s):  
Yasushi Kokubo ◽  
Hirotami Koike ◽  
Teruo Someya
Keyword(s):  
Electron Microscopy ◽  
Image Processing ◽  
Scanning Electron Microscopy ◽  
Elastic Scattering ◽  
Field Emission ◽  
Processing Technique ◽  
Image Processing Technique ◽  
Energy Analyzer ◽  
Scanning Microscope ◽  
Scanning Electron

One of the advantages of scanning electron microscopy is the capability for processing the image contrast, i.e., the image processing technique. Crewe et al were the first to apply this technique to a field emission scanning microscope and show images of individual atoms. They obtained a contrast which depended exclusively on the atomic numbers of specimen elements (Zcontrast), by displaying the images treated with the intensity ratio of elastically scattered to inelastically scattered electrons. The elastic scattering electrons were extracted by a solid detector and inelastic scattering electrons by an energy analyzer. We noted, however, that there is a possibility of the same contrast being obtained only by using an annular-type solid detector consisting of multiple concentric detector elements.

Familiarity and Expertise in the Recognition of Vehicles from an Unmanned Ground Vehicle

2006 ◽  
Author(s):  
Thomas D. Fincannon ◽  
Michael Curtis ◽  
Florian Jentsch
Keyword(s):  
Unmanned Ground Vehicle ◽  
Ground Vehicle

Human Factors Evaluation of 360 Panoramic View Camera System for Ground Vehicle

2007 ◽  
Author(s):  
Cheng Li Wei ◽  
Ang Cher Wee ◽  
Chan Wai Herng ◽  
Ying Meng Fai
Keyword(s):  
Human Factors ◽  
Panoramic View ◽  
Camera System ◽  
Ground Vehicle

A Comparative Study of Ant and Genetic Algorithms in Digital Mammography

2018 ◽  
pp. 194-200
Author(s):  
J. Magelin Mary ◽  
Chitra K. ◽  
Y. Arockia Suganthi
Keyword(s):  
Genetic Algorithm ◽  
Image Processing ◽  
Medical Image ◽  
Medical Image Processing ◽  
Processing Technique ◽  
Input Image ◽  
Image Processing Technique ◽  
Computational Time ◽  
Image Mining ◽  
The Individual

Image processing technique in general, involves the application of signal processing on the input image for isolating the individual color plane of an image. It plays an important role in the image analysis and computer version. This paper compares the efficiency of two approaches in the area of finding breast cancer in medical image processing. The fundamental target is to apply an image mining in the area of medical image handling utilizing grouping guideline created by genetic algorithm. The parameter using extracted border, the border pixels are considered as population strings to genetic algorithm and Ant Colony Optimization, to find out the optimum value from the border pixels. We likewise look at cost of ACO and GA also, endeavors to discover which one gives the better solution to identify an affected area in medical image based on computational time.

An Enhanced Technique for Classification of Fruits using Shape Color and Texture Features

2017 ◽  
Vol 7 (7) ◽  
pp. 408
Author(s):  
Yashpal Jitarwal ◽  
Tabrej Ahamad Khan ◽  
Pawan Mangal
Keyword(s):  
Image Processing ◽  
Texture Features ◽  
Automatic Classification ◽  
Processing Technique ◽  
Image Processing Technique ◽  
Advance Technique ◽  
Time Required ◽  
Fruit Sorting ◽  
Human Inspection

In earlier times fruits were sorted manually and it was very time consuming and laborious task. Human sorted the fruits of the basis of shape, size and color. Time taken by human to sort the fruits is very large therefore to reduce the time and to increase the accuracy, an automatic classification of fruits comes into existence.To improve this human inspection and reduce time required for fruit sorting an advance technique is developed that accepts information about fruits from their images, and is called as Image Processing Technique.

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