@inproceedings{62e175d260d04f35b08dd61a54665563,
title = "Pose estimation of a vehicle on rough terrain by using the Sun direction",
abstract = "We are interested in the pose measurement of a rover using Sun direction while it moves on a rough terrain. First, we derived a sensor fusion formula to estimate rover pose from a three-dimensional gyro sensor, Sun direction sensor and gravity sensor. We developed a prototype of a Sun direction sensor, which can achieve fast and precise measurement even when rover pose changes dynamically. This sensor consists of a two-DOF mechanically rotational sensor base and an optical position sensing device. This sensor keeps its sensor head directed towards the Sun by controlling the two-DOF sensor base. We constructed a test system which consists of a Sun direction sensor, three gyro sensors, and an accelerometer on our mobile robot platform Yamabico AQURO.",
keywords = "Accelerometers, Gravity, Optical devices, Optical sensors, Prototypes, Sensor fusion, Sensor systems, Sun, System testing, Vehicles",
author = "S. Furuki and S. Yuta",
year = "2003",
month = jan,
day = "1",
doi = "10.1109/MFI-2003.2003.1232599",
language = "English",
series = "IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "58--63",
booktitle = "Proceedings of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2003",
note = "IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2003 ; Conference date: 30-07-2003 Through 01-08-2003",
}