{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:54:50Z","timestamp":1777715690806,"version":"3.51.4"},"reference-count":29,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2007,2,1]],"date-time":"2007-02-01T00:00:00Z","timestamp":1170288000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2007,2]]},"abstract":"<jats:p>The intent of this paper is to demonstrate how the accuracy of 3D position tracking can be improved by considering rover locomotion in rough terrain as a holistic problem. Although the selection of good sensors is crucial to accurately track the rover's position, it is not the only aspect to consider. Indeed, the use of an unadapted locomotion concept severely affects the signal to noise ratio of the sensors, which leads to poor motion estimates. In this work, a mechanical structure allowing smooth motion across obstacles with limited wheel slip is used. In particular, this enables the use of odometry and inertial sensors to improve the position estimation in rough terrain. A method for computing 3D motion increments based on the wheel encoders and chassis state sensors is developed. Because it accounts for the kinematics of the rover, this method provides better results than the standard approach. To further improve the accuracy of the position tracking and the rover's climbing performance, a controller minimizing wheel slip has been developed. The algorithm runs online and can be adapted to any kind of passive wheeled rover. Finally, sensor fusion using 3D-Odometry, inertial sensors and visual motion estimation based on stereovision is presented. The experimental results demonstrate how each sensor contributes to increase the accuracy and robustness of the 3D position estimation.<\/jats:p>","DOI":"10.1177\/0278364906075170","type":"journal-article","created":{"date-parts":[[2007,1,24]],"date-time":"2007-01-24T08:13:08Z","timestamp":1169626388000},"page":"167-186","source":"Crossref","is-referenced-by-count":23,"title":["3D Position Tracking in Challenging Terrain"],"prefix":"10.1177","volume":"26","author":[{"given":"Pierre","family":"Lamon","sequence":"first","affiliation":[{"name":"Eidgen\u00f6ssische Technische Hochschule (ETH) 8092 Z\u00fcrich,                         CH"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Roland","family":"Siegwart","sequence":"additional","affiliation":[{"name":"Eidgen\u00f6ssische Technische Hochschule (ETH) 8092 Z\u00fcrich,                         CH"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2007,2,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.846419"},{"key":"atypb2","volume-title":"SPIE Proceedings","author":"Baumgartner, E.T."},{"key":"atypb3","volume-title":"Proceedings of the American Control Conference","author":"Bevly, D. M"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1109\/70.544770"},{"key":"atypb5","volume-title":"IEEE International Conference on Robotics and Automation","author":"Brooks, C."},{"key":"atypb6","first-page":"54","volume-title":"IEEE Robotics and Automation Magazine","author":"Cheng, Y.","year":"2006"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1109\/70.964672"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1109\/21.44063"},{"key":"atypb9","first-page":"147","volume-title":"Alvey Vision Conference, In the proceeding of the 4th Alvey Vision Conference, Manchester","author":"Harris, C."},{"key":"atypb10","unstructured":"IPC. http:\/\/www.cs.cmu.edu\/afs\/cs\/project\/TCA\/www\/ipc\/index.html"},{"key":"atypb11","volume-title":"Proceedings ASME Design Engineering Technical Conference","author":"Iagnemma, K."},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1007\/978-94-011-4120-8_15"},{"key":"atypb13","volume-title":"IEEE International Conference on Robotics and Automation","author":"Iagnemma, K."},{"key":"atypb14","volume-title":"Proceedings of the Sixth International Symposium on Artificial Intelligence, Robotics and Automation in Space, i-SAIRAS","author":"Iagnemma, K."},{"key":"atypb15","volume-title":"International Conference on Computer Vision","author":"Jung, I.-K."},{"key":"atypb16","volume-title":"International Symposium on Robotics Research","author":"Jung, I.-K.","year":"2003"},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1177\/0278364902021010841"},{"key":"atypb18","volume-title":"IEEE International Conference on Robotics and Automation","author":"Lamon, P."},{"key":"atypb19","volume-title":"IEEE International Conference on Robotics and Automation","author":"Lamon, P."},{"key":"atypb20","volume-title":"Mechanisms and Dynamics of Machinery","author":"Mabie, H. H.","year":"1987","edition":"4"},{"key":"atypb21","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.845279"},{"key":"atypb22","first-page":"169","volume-title":"Proceedings of the Fourth Annual Conference of Mechatronics and Machine Vision in Practice","author":"Nebot, E."},{"key":"atypb23","volume-title":"International Conference on Advanced Robotics","author":"Nettleton, E."},{"key":"atypb24","volume-title":"IEEE International Conference on Robotics and Automation","author":"Olson, C. F."},{"key":"atypb25","doi-asserted-by":"publisher","DOI":"10.1109\/70.744605"},{"key":"atypb26","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(02)00240-3"},{"key":"atypb27","volume-title":"11th International Conference on Advanced Robotics","author":"Strelow, D."},{"key":"atypb28","volume-title":"Proceedings of the 1997 IEEE International Conference on Robotics and Automation","author":"van der Burg, J."},{"key":"atypb29","volume-title":"Proceedings of the 8th International Symposium on Experimental Robotics","author":"Yoshida, K."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364906075170","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364906075170","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:15:56Z","timestamp":1777457756000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364906075170"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2007,2]]},"references-count":29,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2007,2]]}},"alternative-id":["10.1177\/0278364906075170"],"URL":"https:\/\/doi.org\/10.1177\/0278364906075170","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2007,2]]}}}