Localization in orchards using Extended Kalman Filter for sensor-fusion - A FroboMind component

Martin Peter Christiansen, Kjeld Jensen, Lars-Peter Ellekilde, Rasmus Nyholm Jørgensen

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Abstrakt

Using the detected trees seen in gure 4(b) a localised SLAM map of the surroundings area,
can be created an used to determine the localisation of the tractor. This kind of sensor-fusion
is used, to keep the amount of prior information about outlay of the orchard to a minimum,
so it can be used in orchards with dierent outlays of the trees.
OriginalsprogEngelsk
Publikationsdato30. jun. 2011
Antal sider4
StatusUdgivet - 30. jun. 2011
BegivenhedNJF seminar 441, Automation and System Technology in Plant Production CIGR section V & NJF section VII conference - Hammerum - Herning, Danmark
Varighed: 30. jun. 20111. jul. 2011

Seminar

SeminarNJF seminar 441, Automation and System Technology in Plant Production CIGR section V & NJF section VII conference
Land/OmrådeDanmark
ByHammerum - Herning
Periode30/06/201101/07/2011

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