scholarly journals The Rosario dataset: Multisensor data for localization and mapping in agricultural environments

2019 ◽  
Vol 38 (6) ◽  
pp. 633-641 ◽  
Author(s):  
Taihú Pire ◽  
Martín Mujica ◽  
Javier Civera ◽  
Ernesto Kofman
Keyword(s):  
Global Positioning System ◽  
Mobile Robotics ◽  
Sensor Data ◽  
Measurement Unit ◽  
Direct Sunlight ◽  
Localization And Mapping ◽  
Global Positioning ◽  
Gps Rtk ◽  
Autonomous Mobile Robotics ◽  
Multisensor Data

In this paper we present the Rosario dataset, a collection of sensor data for autonomous mobile robotics in agricultural scenes. The dataset is motivated by the lack of realistic sensor readings gathered by a mobile robot in such environments. It consists of six sequences recorded in soybean fields showing real and challenging cases: highly repetitive scenes, reflection, and burned images caused by direct sunlight and rough terrain among others. The dataset was conceived in order to provide a benchmark and contribute to the agricultural simultaneous localization and mapping (SLAM)/odometry and sensor fusion research. It contains synchronized readings of several sensors: wheel odometry, inertial measurement unit (IMU), stereo camera, and a Global Positioning System real-time kinematics (GPS-RTK) system. The dataset is publicly available from http://www.cifasis-conicet.gov.ar/robot/ .

scholarly journals An Optimized Tightly-Coupled VIO Design on the Basis of the Fused Point and Line Features for Patrol Robot Navigation

Sensors ◽  
2019 ◽  
Vol 19 (9) ◽  
pp. 2004 ◽  
Author(s):  
Linlin Xia ◽  
Qingyu Meng ◽  
Deru Chi ◽  
Bo Meng ◽  
Hanrui Yang
Keyword(s):  
Global Positioning System ◽  
Inertial Measurement Unit ◽  
Feature Matching ◽  
Robot Navigation ◽  
Measurement Unit ◽  
State Estimator ◽  
Localization And Mapping ◽  
Global Positioning ◽  
Tightly Coupled ◽  
Association State

The development and maturation of simultaneous localization and mapping (SLAM) in robotics opens the door to the application of a visual inertial odometry (VIO) to the robot navigation system. For a patrol robot with no available Global Positioning System (GPS) support, the embedded VIO components, which are generally composed of an Inertial Measurement Unit (IMU) and a camera, fuse the inertial recursion with SLAM calculation tasks, and enable the robot to estimate its location within a map. The highlights of the optimized VIO design lie in the simplified VIO initialization strategy as well as the fused point and line feature-matching based method for efficient pose estimates in the front-end. With a tightly-coupled VIO anatomy, the system state is explicitly expressed in a vector and further estimated by the state estimator. The consequent problems associated with the data association, state optimization, sliding window and timestamp alignment in the back-end are discussed in detail. The dataset tests and real substation scene tests are conducted, and the experimental results indicate that the proposed VIO can realize the accurate pose estimation with a favorable initializing efficiency and eminent map representations as expected in concerned environments. The proposed VIO design can therefore be recognized as a preferred tool reference for a class of visual and inertial SLAM application domains preceded by no external location reference support hypothesis.

scholarly journals TERRESTRIAL MOBILE MAPPING BASED ON A MICROWAVE RADAR SENSOR. APPLICATION TO THE LOCALIZATION OF MOBILE ROBOTS

2021 ◽  
Vol V-1-2021 ◽  
pp. 73-80
Author(s):  
R. Rouveure ◽  
P. Faure ◽  
M.-O. Monod
Keyword(s):  
Global Positioning System ◽  
Mobile Robotics ◽  
Ease Of Use ◽  
Mobile Mapping ◽  
Microwave Radar ◽  
Localization And Mapping ◽  
Global Positioning ◽  
Outdoor Environments ◽  
Slam Algorithm ◽  
Radar Map

Abstract. Mobile robotics applications in outdoor environments now use intensively Global Positioning System (GPS). For localization or navigation operations, GPS has become an essential tool due to its ease of use, its precision, and its worldwide accessibility. The increase of autonomy level in mobile robotics implies a robust centimeter-level positioning, but the presence of natural (trees, mountains) or man-made obstacles (buildings) can degrade or prevent GPS signals reception. We present in this paper a solution for robots localization based on PELICAN microwave radar. PELICAN radar provides each second a panoramic image of the surrounding environment. These images are concatenated through a Simultaneous Localization And Mapping (SLAM) algorithm in order to build global maps of the traveled environments. The proposed solution computes the position and orientation of the robot through a real-time 3D matching between the current radar image and a pre-existing radar map constructed during an exploratory phase.

Visual-inertial SLAM method based on optical flow in a GPS-denied environment

2018 ◽  
Vol 45 (3) ◽  
pp. 401-406 ◽  
Author(s):  
Chang Chen ◽  
Hua Zhu
Keyword(s):  
Optical Flow ◽  
Measurement Unit ◽  
Data Sets ◽  
Theoretical Derivation ◽  
Content Type ◽  
Feature Extraction Method ◽  
Localization And Mapping ◽  
Global Positioning ◽  
Tightly Coupled ◽  
The Stability

Purpose This study aims to present a visual-inertial simultaneous localization and mapping (SLAM) method for accurate positioning and navigation of mobile robots in the event of global positioning system (GPS) signal failure in buildings, trees and other obstacles. Design/methodology/approach In this framework, a feature extraction method distributes features on the image under texture-less scenes. The assumption of constant luminosity is improved, and the features are tracked by the optical flow to enhance the stability of the system. The camera data and inertial measurement unit data are tightly coupled to estimate the pose by nonlinear optimization. Findings The method is successfully performed on the mobile robot and steadily extracts the features on low texture environments and tracks features. The end-to-end error is 1.375 m with respect to the total length of 762 m. The authors achieve better relative pose error, scale and CPU load than ORB-SLAM2 on EuRoC data sets. Originality/value The main contribution of this study is the theoretical derivation and experimental application of a new visual-inertial SLAM method that has excellent accuracy and stability on weak texture scenes.

The Use of Auxiliary Airborne Sensor Data in SPACE-M Photogrammetric Block Adjustments

1984 ◽  
Vol 38 (1) ◽  
pp. 3-14
Author(s):  
J. A. R. Blais ◽  
M. A. Chapman
Keyword(s):  
Global Positioning System ◽  
Mathematical Formulation ◽  
Real Data ◽  
Sensor Data ◽  
Navigation Systems ◽  
Test Results ◽  
Inertial Navigation Systems ◽  
Adjustment Program ◽  
Global Positioning ◽  
Topographical Mapping

The mathematical formulation used in the photogrammetric block adjustment program SPACE-M has recently been extended to accommodate auxiliary airborne sensor data corresponding to the position and/or attitude of the aerial camera at the time of film exposure. Examples of such systems are statoscopes, laser profilometers, Inertial Navigation Systems (INS) and the Global Positioning System (GPS). The description of the use of these auxiliary data in SPACE-M is outlined and references are given to other related formulations. Test results with simulated and limited real data are presented with some analysis of the implications for topographical mapping and other applications.

scholarly journals A Hybrid VLC-RF Portable Phasor Measurement Unit for Deep Tunnels

Sensors ◽  
2020 ◽  
Vol 20 (3) ◽  
pp. 790
Author(s):  
Ismael Soto ◽  
Rafael Nilson Rodrigues ◽  
Gabriel Massuyama ◽  
Fabian Seguel ◽  
Pablo Palacios Játiva ◽  
...  
Keyword(s):  
Radio Frequency ◽  
Global Positioning System ◽  
Electrical Power ◽  
Visible Light Communication ◽  
Measurement Unit ◽  
Laboratory Measurements ◽  
Electrical Power System ◽  
Improve Performance ◽  
Global Positioning ◽  
Deep Underground

In this manuscript we propose a hybrid Visible Light Communication and Radio Frequency (VLC-RF) scheme for the implementation of a portable Phaser Measurement Unit (PMU) for deep underground tunnels. Through computer simulations and laboratory measurements we are capable of providing Coordinated Universal Time (UTC) to the PMUs, as well as high accuracy positioning in a Global Positioning System (GPS) denied environment. The estimated PMU position, time stamp, and electrical power system measurements are sent to a central monitoring station using a radio frequency uplink with a data rate of hundreds of Kbps. Simulations and experimental measurements show that the proposed scheme can be used to control a large number of VLC-RF PMU devices inside a tunnel. The tests demonstrate the viability of the hybrid prototype, which will improve performance compared to commercial PMUs that lack these features.

scholarly journals Soaring energetics and glide performance in a moving atmosphere

2016 ◽  
Vol 371 (1704) ◽  
pp. 20150398 ◽  
Author(s):  
Graham K. Taylor ◽  
Kate V. Reynolds ◽  
Adrian L. R. Thomas
Keyword(s):  
Global Positioning System ◽  
Inertial Measurement Unit ◽  
Mechanical Energy ◽  
Measurement Unit ◽  
Cost Of Transport ◽  
Inertial Measurement ◽  
Dynamic Soaring ◽  
Energy Flows ◽  
Weak Evidence ◽  
Global Positioning

Here, we analyse the energetics, performance and optimization of flight in a moving atmosphere. We begin by deriving a succinct expression describing all of the mechanical energy flows associated with gliding, dynamic soaring and thermal soaring, which we use to explore the optimization of gliding in an arbitrary wind. We use this optimization to revisit the classical theory of the glide polar, which we expand upon in two significant ways. First, we compare the predictions of the glide polar for different species under the various published models. Second, we derive a glide optimization chart that maps every combination of headwind and updraft speed to the unique combination of airspeed and inertial sink rate at which the aerodynamic cost of transport is expected to be minimized. With these theoretical tools in hand, we test their predictions using empirical data collected from a captive steppe eagle ( Aquila nipalensis ) carrying an inertial measurement unit, global positioning system, barometer and pitot tube. We show that the bird adjusts airspeed in relation to headwind speed as expected if it were seeking to minimize its aerodynamic cost of transport, but find only weak evidence to suggest that it adjusts airspeed similarly in response to updrafts during straight and interthermal glides. This article is part of the themed issue ‘Moving in a moving medium: new perspectives on flight’.

scholarly journals Simulasi Penentuan Lokasi Perangkat Bergerak dengan Metode Enhanced Observed Time Difference

2020 ◽  
Vol 9 (2) ◽  
pp. 111-123
Author(s):  
Hilal H. Nuha ◽  
Nachwan M. Andriansyah ◽  
Asep Mulyana
Keyword(s):  
Global Positioning System ◽  
Mobile Station ◽  
Time Difference ◽  
Measurement Unit ◽  
Time Of Arrival ◽  
Mobile Location ◽  
Global Positioning ◽  
Base Transceiver Station ◽  
Location Measurement ◽  
Non Line Of Sight

Sebagai alternatif Global Positioning System (GPS) yang berbasis satelit, jaringan seluler yang tersebar di berbagai daerah bisa digunakan untuk penentuan lokasi seperti Enhanced Observed Time Difference (EOTD) yang merupakah teknik penentuan lokasi menggunakan perangkat seluler seperti Base Transceiver Station (BTS) dan Mobile Station (MS). Sistem EOTD membutuhkan komponen tambahan BTS berupa Location Measurement Unit (LMU) dan Serving Mobile Location Center (SMLC). LMU berfungsi memberitahu MS tentang waktu pengiriman sinyal sedangkan SMLC berfungsi sebagai server yang menerima request dari MS dan LMU. Jarak antara MS dan BTS bisa diperkirakan dengan mengalikan selisih waktu dengan kecepatan cahaya. Dengan menggunakan dua buah jarak dari dua buah BTS, maka dua buah hiperbola bisa dibuat dengan titik pusat pada masing-masing koordinat BTS. Posisi dari MS bisa ditentukan dari titik temu dua hiperbola tersebut. Evaluasi teknik penentuan lokasi ini dilakukan dengan simulasi pada berbagai kondisi medan mulai dari kondisi diam dan bergerak dengan kecepatan tertentu dengan frekuensi carrier yang beragam. Sebagai perbandingan, untuk kondisi Non-Line of Sight (NLOS) pada model kanal urban 3GPP, simulasi sistem yang menggunakan laterasi dua buah kurva hiperbola dengan selisih pengukuran maksimum 0.0148 Km yang lebih akurat daripada metode pembanding Estimated-Time of Arrival (ETOA) dengan selisih pengukuran maksimum 0.31858 Km.

Cartesian Control for the Inertial Measurement Unit Calibration Platform

2000 ◽  
Author(s):  
John J. Hall ◽  
Robert L. Williams ◽  
Frank van Graas
Keyword(s):  
Global Positioning System ◽  
Inertial Measurement Unit ◽  
Vertical Motion ◽  
High Accuracy ◽  
Measurement Unit ◽  
Positioning System ◽  
Ohio University ◽  
Inertial Measurement ◽  
Gps Technology ◽  
Global Positioning

Abstract The Department of Mechanical Engineering and the Avionics Engineering Center at Ohio University are developing an electromechanical system for the calibration of an inertial measurement unit (IMU) using global positioning system (GPS) antennas. The GPS antennas and IMU are mounted to a common platform to be oriented in the angular roll, pitch, and yaw motions. Vertical motion is also included to test the systems in a vibrational manner. A four-dof system based on the parallel Carpal Wrist is under development for this task. High-accuracy positioning is not required from the platform since the GPS technology provides absolute positioning for the IMU calibration process.

scholarly journals Dynamic Lever Arm Error Compensation of POS Used for Airborne Earth Observation

2018 ◽  
Vol 2018 ◽  
pp. 1-13
Author(s):  
Lu Zhaoxing ◽  
Fang Jiancheng ◽  
Gong Xiaolin ◽  
Li Jianli ◽  
Wang Shicheng ◽  
...  
Keyword(s):  
Remote Sensing ◽  
Global Positioning System ◽  
Error Compensation ◽  
Inertial Measurement Unit ◽  
Measurement Accuracy ◽  
Earth Observation ◽  
Measurement Unit ◽  
Lever Arm ◽  
Global Positioning ◽  
High Measurement

The position and orientation system (POS) is widely applied in airborne Earth observation, which integrates the strapdown inertial navigation system (SINS) and global positioning system (GPS) to provide high-accuracy position, velocity, and attitude information for remote sensing motion compensation. However, for keeping the appointed direction of remote sensing load, the inertial measurement unit (IMU) and remote sensing load will be driven to sweep by the servo machine. The lever arms among IMU, GPS, and remote sensing load will be time varying, and their influence on the measurement accuracy of POS is serious. To solve the problem, a dynamic lever arm error compensation method is proposed, which contains the first-level lever arm error compensations between IMU and GPS and the second-level lever arm error compensation between POS and remote sensing load. The flight experiment results show that the proposed method can effectively compensate the dynamic lever arm error and achieve high measurement accuracy for POS.

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