A1 Refereed original research article in a scientific journal
A Survey on Odometry for Autonomous Navigation Systems
Authors: Sherif A. S. Mohamed, Mohammad-Hashem Haghbayan, Tomi Westerlund, Jukka Heikkonen, Hannu Tenhunen, Juha Plosila
Publisher: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Publication year: 2019
Journal: IEEE Access
Journal acronym: IEEE ACCESS
Volume: 7
First page : 97466
Last page: 97486
Number of pages: 21
ISSN: 2169-3536
eISSN: 2169-3536
DOI: https://doi.org/10.1109/ACCESS.2019.2929133
Web address : https://ieeexplore.ieee.org/document/8764393
Self-archived copy’s web address: https://research.utu.fi/converis/portal/detail/Publication/42071038
The development of a navigation system is one of the major challenges in building a fully autonomous platform. Full autonomy requires a dependable navigation capability not only in a perfect situation with clear GPS signals but also in situations, where the GPS is unreliable. Therefore, self-contained odometry systems have attracted much attention recently. This paper provides a general and comprehensive overview of the state of the art in the field of self-contained, i.e., GPS denied odometry systems, and identifies the out-coming challenges that demand further research in future. Self-contained odometry methods are categorized into five main types, i.e., wheel, inertial, laser, radar, and visual, where such categorization is based on the type of the sensor data being used for the odometry. Most of the research in the field is focused on analyzing the sensor data exhaustively or partially to extract the vehicle pose. Different combinations and fusions of sensor data in a tightly/loosely coupled manner and with filtering or optimizing fusion method have been investigated. We analyze the advantages and weaknesses of each approach in terms of different evaluation metrics, such as performance, response time, energy efficiency, and accuracy, which can be a useful guideline for researchers and engineers in the field. In the end, some future research challenges in the field are discussed.
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