Localization in orchards using Extended Kalman Filter for sensor-fusion - A FroboMind component.

摘要

Using the detected trees seen in gure 4(b) a localised SLAM map of the surroundings area,can be created an used to determine the localisation of the tractor. This kind of sensor-fusionis used, to keep the amount of prior information about outlay of the orchard to a minimum,so it can be used in orchards with dierent outlays of the trees.