Global pose estimation with adaptive GPS/IMU fusion

Abstract

The aim of this study is to fuse GPS(Global Positioning System)/IMU(Inertial Measurement System) by using Kalman filter. We acquired the 6D pose data and compared the accuracy of 3D world model by using the data with Kalman filter and 3D world model by without filtering. Using proposed Kalman filter method, we obtain the exact pose data. This indicates that reconstructed 3D world model, using the proposed method is more accurate. © 2013 Springer-Verlag.