Global Pose Estimation with Adaptive GPS/IMU Fusion

  • Taek Jun Oh
  • Myung Jin Chung
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 193)


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.


Kalman Filter GPS IMU 3D World Model Sensor System 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  1. 1.Dept. of Electrical EngineeringKAISTDaejeonRepublic of Korea

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