Kalmtool used for laser scanner aided navigation in orchard

Lars Valdemar Mogensen; Søren Hansen; Jens Christian Andersen; Ole Ravn; Nils Axel Andersen; Mogens Blanke; Niels Kjølstad Poulsen

doi:10.3182/20090706-3-FR-2004.00127

Kalmtool used for laser scanner aided navigation in orchard

Lars Valdemar Mogensen, Søren Hansen, Jens Christian Andersen, Ole Ravn, Nils Axel Andersen, Mogens Blanke, Niels Kjølstad Poulsen

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-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 language	English
Title of host publication	Proceeding of 15. IFAC Symposium on System Identification, SYSID 2009
Publication date	2009
DOIs	https://doi.org/10.3182/20090706-3-FR-2004.00127
Publication status	Published - 2009
Event	15th IFAC Symposium on System Identification (SYSID 2009) - Saint-Malo, France Duration: 6 Jul 2009 → 8 Jul 2009 Conference number: 15

Conference

Conference	15th IFAC Symposium on System Identification (SYSID 2009)
Number	15
Country/Territory	France
City	Saint-Malo
Period	06/07/2009 → 08/07/2009

Keywords

Bayesian Methods
Toolboxes

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10.3182/20090706-3-FR-2004.00127

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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",

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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

N1 - Conference code: 15

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

T2 - 15th IFAC Symposium on System Identification (SYSID 2009)

Y2 - 6 July 2009 through 8 July 2009

ER -

Kalmtool used for laser scanner aided navigation in orchard

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