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Multisensor Data Fusion for Robust Pose Estimation of a Six-Legged Walking Robot

Chilian, Annett and Hirschmüller, Heiko and Görner, Martin (2011) Multisensor Data Fusion for Robust Pose Estimation of a Six-Legged Walking Robot. IEEE International Conference on Intelligent Robots and Systems (IROS), 25-30 Sept 2011, San Francisco, CA, USA.

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Abstract

For autonomous navigation tasks it is important that the robot always has a good estimate of its current pose with respect to its starting position and - in terms of orientation - with respect to the gravity vector. For this, the robot should make use of all available information and be robust against the failure of single sensors. In this paper a multisensor data fusion algorithm for the six-legged walking robot DLR Crawler is presented. The algorithm is based on an indirect feedback information filter that fuses measurements from an inertial measurement unit (IMU) with relative 3D leg odometry measurements and relative 3D visual odometry measurements from a stereo camera. Errors of the visual odometry are computed and considered in the filtering process in order to achieve accurate pose estimates which are robust against visual odometry failure. The algorithm was successfully tested and results are presented.

Document Type:Conference or Workshop Item (UNSPECIFIED)
Title:Multisensor Data Fusion for Robust Pose Estimation of a Six-Legged Walking Robot
Authors:
AuthorsInstitution or Email of Authors
Chilian, AnnettAnnett.Stelzer@dlr.de
Hirschmüller, HeikoHeiko.Hirschmueller@dlr.de
Görner, MartinMartin.Goerner@dlr.de
Date:September 2011
Page Range:pp. 2497-2504
Status:Published
Keywords:sensor data fusion, information filter, pose estimation
Event Title:IEEE International Conference on Intelligent Robots and Systems (IROS)
Event Location:San Francisco, CA, USA
Event Type:international Conference
Event Dates:25-30 Sept 2011
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - RMC - Mobilität und Exploration (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Annett Stelzer
Deposited On:23 Dec 2011 14:51
Last Modified:12 Dec 2013 21:31

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