Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Vision-based Reduction of Gyro Drift for Intelligent Vehicles

지능형 운행체를 위한 비전 센서 기반 자이로 드리프트 감소

  • Kyung, MinGi (Computer Science and Engineering, Konkuk University) ;
  • Nguyen, Dang Khoi (Aerospace Information Engineering, Konkuk University) ;
  • Kang, Taesam (Aerospace Information Engineering, Konkuk University) ;
  • Min, Dugki (Computer Science and Engineering, Konkuk University) ;
  • Lee, Jeong-Oog (Aerospace Information Engineering, Konkuk University)
  • 경민기 (건국대학교 컴퓨터공학과) ;
  • 당 코이 누엔 (건국대학교 항공우주정보시스템공학과) ;
  • 강태삼 (건국대학교 항공우주정보시스템공학과) ;
  • 민덕기 (건국대학교 컴퓨터공학과) ;
  • 이정욱 (건국대학교 항공우주정보시스템공학과)
  • Received : 2015.03.02
  • Accepted : 2015.04.22
  • Published : 2015.07.01
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Abstract

Accurate heading information is crucial for the navigation of intelligent vehicles. In outdoor environments, GPS is usually used for the navigation of vehicles. However, in GPS-denied environments such as dense building areas, tunnels, underground areas and indoor environments, non-GPS solutions are required. Yaw-rates from a single gyro sensor could be one of the solutions. In dealing with gyro sensors, the drift problem should be resolved. HDR (Heuristic Drift Reduction) can reduce the average heading error in straight line movement. However, it shows rather large errors in some moving environments, especially along curved lines. This paper presents a method called VDR (Vision-based Drift Reduction), a system which uses a low-cost vision sensor as compensation for HDR errors.

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References

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