4 papers
Wheel-GINS: A GNSS/INS Integrated Navigation System with a Wheel-mounted IMU
Yibin Wu, Jian Kuang, Xiaoji Niu +3
A long-term accurate and robust localization system is essential for mobile robots to operate efficiently outdoors. Recent studies have shown the significant advantages of the whee…
Wheel-SLAM: Simultaneous Localization and Terrain Mapping Using One Wheel-mounted IMU
Yibin Wu, Jian Kuang, Xiaoji Niu +3
A reliable pose estimator robust to environmental disturbances is desirable for mobile robots. To this end, inertial measurement units (IMUs) play an important role because they ca…
A Comparison of Three Measurement Models for the Wheel-mounted MEMS IMU-based Dead Reckoning System
Yibin Wu, Xiaoji Niu, Jian Kuang
A self-contained autonomous dead reckoning (DR) system is desired to complement the Global Navigation Satellite System (GNSS) for land vehicles, for which odometer-aided inertial n…
Wheel-INS: A Wheel-mounted MEMS IMU-based Dead Reckoning System
Xiaoji Niu, Yibin Wu, Jian Kuang
To improve the accuracy and robustness of the inertial navigation systems (INS) for wheeled robots without adding additional component cost, we propose Wheel-INS, a complete dead r…