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Sensor Fusion of Raw GPS Measurements for Autonomous Vehicle Localization

Author

Tirindelli, Pier

Other authors

Universitat Politècnica de Catalunya. Departament de Ciències de la Computació

Alquézar Mancho, René

Publication date

2016-04-21

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Abstract

We developed a software able to establish geometric constraints for a localization problem from raw GPS measurements. Then we integrated it in Wolf, a software framework for managing SLAM, enriching its sensor fusion capabilities. In the end we tested the sensor fusion between raw GPS and odometry.

Document Type

Master thesis

Language

English

Subjects and keywords

Àrees temàtiques de la UPC::Informàtica::Intel·ligència artificial; Global Positioning System; Mobile robots; mobile robotics; SLAM; Wolf; sensor fusion; GPS; raw; raw GPS; pseudorange; odometry; autonomous vehicle; localization; ROS; ceres; GPSTk; Sistema de posicionament global; Robots mòbils

Publisher

Universitat Politècnica de Catalunya

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info:eu-repo/grantAgreement/EC/FP7/605598/EU/Cargo handling by Automated Next generation Transportation Systems for ports and terminals/CARGO-ANTS

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Rights

Open Access

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Treballs acadèmics [82541]