In this paper, we present a method for increasing the object-relative positioning precision of a car-like robot. In an outdoor environment and on an electric vehicle retrofitted with commercially available actuators, we achieve sub-centimeter and sub-degree accuracy, longitudinally and in heading, respectively. Most noteworthy, this is higher precision than RTK-GPS - which is often assumed ground truth - can realistically measure.
Precise object-relative positioning for car-like robots
01.11.2016
457395 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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