Kalmtool used for laser scanner aided navigation in orchard

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


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
Publication statusPublished - 2009
Event15th IFAC Symposium on System Identification (SYSID 2009) - Saint-Malo, France
Duration: 6 Jul 20098 Jul 2009
Conference number: 15


Conference15th IFAC Symposium on System Identification (SYSID 2009)


  • Bayesian Methods
  • Toolboxes

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