An Investigation Into Trajectory Estimation In Underground Mining Environments Using A Time-Of-Flight Camera And An Inertial Measurement Unit

Authors

  • Thikhathali Terence Ratshidaho University of Kwazulu-Natal and Council for Scientific and Industrial Research
  • Jules Raymond Tapamo University of Kwa-zulu Natal
  • Jonathan Claassens Former Council for Scientific and Industrial Research (CSIR) researcher
  • Natasha Govender Council for Scientific and Industrial Research (CSIR)

DOI:

https://doi.org/10.7166/25-1-736

Keywords:

Time of Flight Camera, ToF, Inertial Measurement Unit, IMU, Kalman filter, Iterative closest point, ICP

Abstract

One of the most important and challenging tasks for mobile robots that navigate autonomously is localisation

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Author Biography

Natasha Govender, Council for Scientific and Industrial Research (CSIR)

Mobile Intelligence Autonomous Systems (MIAS)

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Published

2014-05-13

How to Cite

Ratshidaho, T. T., Tapamo, J. R., Claassens, J., & Govender, N. (2014). An Investigation Into Trajectory Estimation In Underground Mining Environments Using A Time-Of-Flight Camera And An Inertial Measurement Unit. The South African Journal of Industrial Engineering, 25(1), 145–161. https://doi.org/10.7166/25-1-736

Issue

Section

General Articles