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지능형 운행체를 위한 비전 센서 기반 자이로 드리프트 감소
경민기,당 코이 누엔,강태삼,민덕기,이정욱,Kyung, MinGi,Nguyen, Dang Khoi,Kang, Taesam,Min, Dugki,Lee, Jeong-Oog 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.7
Accurate heading information is crucial for the navigation of intelligent vehicles. In outdoor environments, GPS is usually used for the navigation of vehicles. However, in GPS-denied environments such as dense building areas, tunnels, underground areas and indoor environments, non-GPS solutions are required. Yaw-rates from a single gyro sensor could be one of the solutions. In dealing with gyro sensors, the drift problem should be resolved. HDR (Heuristic Drift Reduction) can reduce the average heading error in straight line movement. However, it shows rather large errors in some moving environments, especially along curved lines. This paper presents a method called VDR (Vision-based Drift Reduction), a system which uses a low-cost vision sensor as compensation for HDR errors.
지능형 운행체를 위한 비전 센서 기반 자이로 드리프트 감소
경민기(MinGi Kyung),당 코이 누엔(Dang Khoi Nguyen),강태삼(Taesam Kang),민덕기(Dugki Min),이정욱(Jeong-Oog Lee2) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.18 No.1
Accurate heading information is crucial for the navigation of intelligent vehicles. In outdoor environments, GPS is usually used for the navigation of vehicles. However, in GPS-denied environments such as dense building areas, tunnels, underground areas and indoor environments, non-GPS solutions are required. Yaw-rates from a single gyro sensor could be one of the solutions. In dealing with gyro sensors, the drift problem should be resolved. HDR (Heuristic Drift Reduction) can reduce the average heading error in straight line movement. However, it shows rather large errors in some moving environments, especially along curved lines. This paper presents a method called VDR (Vision-based Drift Reduction), a system which uses a low-cost vision sensor as compensation for HDR errors.