Localisation for an Outdoor Robot by Optically Measuring the Ground Movement

W. Seemann and K.-D. Kuhnert (Germany)


Localisation, GPS, Optical Flow, Sensor fusion,Odometry.


This paper compares the use of two high-speed intelligent cameras observing the ground with modern GPS receivers, odometry, inertia sensors and a digital compass for localisation of the large autonomous outdoor robot AMOR. The intelligent cameras were developed for the vehicle and are characterised by cost efficiency and ruggedness.

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