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Authors: Bernd Gersdorf and Udo Freese

Affiliation: Cyber-Physical Systems and German Research Center for Artificial Intelligence, Germany

ISBN: 978-989-8565-70-9

Keyword(s): Extended Kalman Filter (EKF), Odometry, Wheel, Sensor, Inertial Measurement Unit (IMU), MEMS, Gyroscope, Accelerometer, Walker, Wheelchair, Tricycle, Navigation, ASSAM.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation ; Sensors Fusion ; Signal Processing, Sensors, Systems Modeling and Control ; Signal Reconstruction

Abstract: This paper describes an Extended Kalman Filter for a wheel mounted inertial measurement unit using two accelerometers and a single gyroscope as a substitute for classical odometry sensing. The sensor can be mounted with minimal effort on existing wheeled vehicles. It is highly robust against vibration while rolling on uneven terrain and can cope with higher speeds even when the measurement range is partially exceeded. It has been developed as a component of a GPS based urban navigation assistant for elderly people using walkers, wheelchairs, or tricycles as an add-on device.

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Paper citation in several formats:
Gersdorf, B. and Freese, U. (2013). A Kalman Filter for Odometry using a Wheel Mounted Inertial Sensor.In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-70-9, pages 388-395. DOI: 10.5220/0004457303880395

@conference{icinco13,
author={Bernd Gersdorf. and Udo Freese.},
title={A Kalman Filter for Odometry using a Wheel Mounted Inertial Sensor},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2013},
pages={388-395},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004457303880395},
isbn={978-989-8565-70-9},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A Kalman Filter for Odometry using a Wheel Mounted Inertial Sensor
SN - 978-989-8565-70-9
AU - Gersdorf, B.
AU - Freese, U.
PY - 2013
SP - 388
EP - 395
DO - 10.5220/0004457303880395

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