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Vision-Aided IMU Estimation of Attitude and Orientation for a Driverless Car

  • Conference paper
Advances in Autonomous Robotics (TAROS 2012)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 7429))

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Abstract

Estimation of attitude and orientation is a critically important technique for ground wheeled autonomous robots like driverless cars. By means of attitude estimation, robots can not only evaluate the risk of overturning the vehicle, but also correct many sensor errors caused by robot motion or vibration. Traditionally, odometry (wheel encoders) is widely used to provide speed information for localization in dead-reckoning systems, and GPS fulfills the same role when robots navigate in outdoor environments. Visual odometry determines the position and orientation of a vehicle based on analyzing a sequence of images only.

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References

  1. Horn, B.K.P.: Robot Vision. MIT electrical engineering and computer science series. The MIT Press (1986)

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  2. Lou, L., Neal, M., Labrosse, F., Cao, J.: An Approach to Improving Attitude Estimation Based on Low-Cost MEMS-IMU for Mobile Robot Navigation. In: Groß, R., Alboul, L., Melhuish, C., Witkowski, M., Prescott, T.J., Penders, J. (eds.) TAROS 2011. LNCS, vol. 6856, pp. 378–379. Springer, Heidelberg (2011)

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Author information

Authors and Affiliations

  1. Department of Computer Science, Aberystwyth University, Ceredigion, Wales, United Kingdom, SY23 3DB

    Lu Lou, Suzana Barreto, Rokas Zmuidzinavicius, Mark Neal, Hannah Dee & Frédéric Labrosse

  2. College of Information Science and Engineering, Chongqing Jiaotong University, Chongqing, China, 400074

    Lu Lou

Authors
  1. Lu Lou
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  2. Suzana Barreto
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  3. Rokas Zmuidzinavicius
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  4. Mark Neal
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  5. Hannah Dee
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  6. Frédéric Labrosse
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Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering and Bristol Robotics Laboratory, University of Bristol, Bristol, UK

    Guido Herrmann

  2. Intelligent Autonomous Systems Lab Faculty of Computing, Engineering & Mathematical Sciences, University of the West of England, BS16 1QY, Bristol, U.K.

    Matthew Studley

  3. University of the West of England, BS34 8QZ, Bristol, UK

    Martin Pearson , Andrew Conn  & Chris Melhuish ,  & 

  4. Department of Electrical and Electronic Engineering, Imperial College London, Exhibition Road, SW7 2BT, London, UK

    Mark Witkowski

  5. Robot Intelligence Technology Laboratory, Department of EECS, KAIST, Daejeon, Korea

    Jong-Hwan Kim

  6. National University of Singapore, Singapore

    Prahlad Vadakkepat

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© 2012 Springer-Verlag Berlin Heidelberg

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Cite this paper

Lou, L., Barreto, S., Zmuidzinavicius, R., Neal, M., Dee, H., Labrosse, F. (2012). Vision-Aided IMU Estimation of Attitude and Orientation for a Driverless Car. In: Herrmann, G., et al. Advances in Autonomous Robotics. TAROS 2012. Lecture Notes in Computer Science(), vol 7429. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32527-4_61

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  • DOI: https://doi.org/10.1007/978-3-642-32527-4_61

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-32526-7

  • Online ISBN: 978-3-642-32527-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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