Kalmtool used for laser scanner aided navigation in orchard

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

This paper concerns localisation of an autonomous tractor in an orchard environment, with the purpose of designing a localisation solution to be compared with GPS. The localisation is based on an estimate found by an extended Kalman filter, which fuses measurements from encoders and gyro with row measurements provided by a laser scanner. Kalmtool is used as a toolbox for developing the localisation algorithm. The result shows that the toolbox can be used successfully for dealing with localisation and sensor fusion.
Original languageEnglish
Title of host publicationProceeding of 15. IFAC Symposium on System Identification, SYSID 2009
Publication date2009
DOIs
Publication statusPublished - 2009
Event15th IFAC Symposium on System Identification (SYSID 2009) - Saint-Malo, France
Duration: 6 Jul 20098 Jul 2009
Conference number: 15

Conference

Conference15th IFAC Symposium on System Identification (SYSID 2009)
Number15
CountryFrance
CitySaint-Malo
Period06/07/200908/07/2009

Keywords

  • Bayesian Methods
  • Toolboxes

Cite this

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title = "Kalmtool used for laser scanner aided navigation in orchard",
abstract = "This paper concerns localisation of an autonomous tractor in an orchard environment, with the purpose of designing a localisation solution to be compared with GPS. The localisation is based on an estimate found by an extended Kalman filter, which fuses measurements from encoders and gyro with row measurements provided by a laser scanner. Kalmtool is used as a toolbox for developing the localisation algorithm. The result shows that the toolbox can be used successfully for dealing with localisation and sensor fusion.",
keywords = "Bayesian Methods, Toolboxes",
author = "Mogensen, {Lars Valdemar} and S{\o}ren Hansen and Andersen, {Jens Christian} and Ole Ravn and Andersen, {Nils Axel} and Mogens Blanke and Poulsen, {Niels Kj{\o}lstad}",
year = "2009",
doi = "10.3182/20090706-3-FR-2004.00127",
language = "English",
booktitle = "Proceeding of 15. IFAC Symposium on System Identification, SYSID 2009",

}

Mogensen, LV, Hansen, S, Andersen, JC, Ravn, O, Andersen, NA, Blanke, M & Poulsen, NK 2009, Kalmtool used for laser scanner aided navigation in orchard. in Proceeding of 15. IFAC Symposium on System Identification, SYSID 2009. 15th IFAC Symposium on System Identification (SYSID 2009), Saint-Malo, France, 06/07/2009. https://doi.org/10.3182/20090706-3-FR-2004.00127

Kalmtool used for laser scanner aided navigation in orchard. / Mogensen, Lars Valdemar; Hansen, Søren; Andersen, Jens Christian; Ravn, Ole; Andersen, Nils Axel; Blanke, Mogens; Poulsen, Niels Kjølstad.

Proceeding of 15. IFAC Symposium on System Identification, SYSID 2009. 2009.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

TY - GEN

T1 - Kalmtool used for laser scanner aided navigation in orchard

AU - Mogensen, Lars Valdemar

AU - Hansen, Søren

AU - Andersen, Jens Christian

AU - Ravn, Ole

AU - Andersen, Nils Axel

AU - Blanke, Mogens

AU - Poulsen, Niels Kjølstad

PY - 2009

Y1 - 2009

N2 - This paper concerns localisation of an autonomous tractor in an orchard environment, with the purpose of designing a localisation solution to be compared with GPS. The localisation is based on an estimate found by an extended Kalman filter, which fuses measurements from encoders and gyro with row measurements provided by a laser scanner. Kalmtool is used as a toolbox for developing the localisation algorithm. The result shows that the toolbox can be used successfully for dealing with localisation and sensor fusion.

AB - This paper concerns localisation of an autonomous tractor in an orchard environment, with the purpose of designing a localisation solution to be compared with GPS. The localisation is based on an estimate found by an extended Kalman filter, which fuses measurements from encoders and gyro with row measurements provided by a laser scanner. Kalmtool is used as a toolbox for developing the localisation algorithm. The result shows that the toolbox can be used successfully for dealing with localisation and sensor fusion.

KW - Bayesian Methods

KW - Toolboxes

U2 - 10.3182/20090706-3-FR-2004.00127

DO - 10.3182/20090706-3-FR-2004.00127

M3 - Article in proceedings

BT - Proceeding of 15. IFAC Symposium on System Identification, SYSID 2009

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