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

Downloads

Download data is not yet available.

Author Biography

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

Mobile Intelligence Autonomous Systems (MIAS)

Downloads

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

Vol. 25 No. 1 (2014)

Section

General Articles

License

Authors who publish in the Journal agree to the following terms:
  1. Authors retain copyright and grant the Journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this Journal.
  2. Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the Journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this Journal.