High rate-localization for high-speed all-terrain robots

摘要

Localization plays a central role in autonomous robot navigation, and a vast number of contributions can be found in the robotics literature. High speed all terrain robots raise new challenges for localization, that must run at higher rates, while being more accurate than for walking speed robots. The article presents a SLAM setup that satisfies these requirements, using vision and low-cost inertial sensors as its core. Other localization sensors can also be incorporated, such as GPS or odometry, yielding a system that estimate the robot pose and velocity parameters at 100 Hz, with translation errors on the pose of the order of 1m for 500m long trajectories.