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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Abstract

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.
Original languageEnglish
Publication date30. Jun 2011
Number of pages4
Publication statusPublished - 30. Jun 2011
EventNJF seminar 441, Automation and System Technology in Plant Production CIGR section V & NJF section VII conference - Hammerum - Herning, Denmark
Duration: 30. Jun 20111. Jul 2011

Seminar

SeminarNJF seminar 441, Automation and System Technology in Plant Production CIGR section V & NJF section VII conference
CountryDenmark
CityHammerum - Herning
Period30/06/201101/07/2011

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    Christiansen, M. P., Jensen, K., Ellekilde, L-P., & Jørgensen, R. N. (2011). Localization in orchards using Extended Kalman Filter for sensor-fusion - A FroboMind component. Abstract from NJF seminar 441, Automation and System Technology in Plant Production CIGR section V & NJF section VII conference, Hammerum - Herning, Denmark. http://www.njf.nu/site/seminarRedirect.asp?intSeminarID=441&p=1004