Abstract
A novel design of a three-dimensional localizer intended for outdoor mobile robots is presented. By integrating data from two inclinometers and an odometer, the system provides high-frequency position and attitude data. The unavoidable dead-reckoning location divergence is corrected by using the azimuth and elevation angles of known landmarks, provided by a rotating linear camera. Even if these measurements are intermittent and are obtained at a low frequency and one at a time, simulations indicate that the formalism proposed in this paper is able to reach an accuracy of a few centimeters on the elevation. Finally, real experiments performed with an outdoor mobile robot are presented and analyzed.
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