Yoji Kuroda

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Unmanned ground vehicles have important applications in high speed rough terrain scenarios. In these scenarios, unexpected and dangerous situations can occur that require rapid hazard avoidance maneuvers. At high speeds, there is limited time to perform navigation and hazard avoidance calculations based on detailed vehicle and terrain models. This paper(More)
— In this paper, we propose an efficient solution to 6 degrees of freedom (6DOF) localization using Unscented Kalman filter for planetary rovers. The solution is a technique augmented the Unscented Kalman filter for accurate 6DOF lo-calization, named Augmented Unscented Kalman Filter (AUKF). The AUKF is designed to deal with problems which occur on other(More)
— In this paper, we propose stereo vision based visual odometry with an effective feature sampling technique for untextured outdoor environment. In order to extract feature points in untextured condition, we divide an image into some sections and affect suitable processes for each section. This approach can also prevent concentration of feature points, and(More)