ASYNCHRONOUS AND TIME-DELAYED SENSOR FUSION OF A LA SER SCANNER NAVIGATION SYSTEM AND ODOMETRY

This paper presents a description of the ‘sensor fusion’ algorithm for our proprietary new navigatio n system, the LS_NAV, which is based on laser range scanning data inside natural environment. The fusion is exploited between odometric navigation and the LS_NAV. In the propose d algorithm the accuracy of both navigation systems i s estimated as a function of the actual manoeuvre bei ng carried out. The method allows compensating the dri ft of the incremental system estimation, high data rate and n oise reduction of the LS_NAV estimates. Experimental verification is carried out using an autonomous veh icl .

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