A robust and modular multi-sensor fusion approach applied to MAV navigation

It has been long known that fusing information from multiple sensors for robot navigation results in increased robustness and accuracy. However, accurate calibration of the sensor ensemble prior to deployment in the field as well as coping with sensor outages, different measurement rates and delays, render multi-sensor fusion a challenge. As a result, most often, systems do not exploit all the sensor information available in exchange for simplicity. For example, on a mission requiring transition of the robot from indoors to outdoors, it is the norm to ignore the Global Positioning System (GPS) signals which become freely available once outdoors and instead, rely only on sensor feeds (e.g., vision and laser)…

• EC
  European Commission

  Awards: 266470, 285417