Driven by vision. Defined by persistence.
B.S. in Automotive EngineeringKookmin University, Senior
Precise vehicle state estimation combining GPS, wheel odometry, and inertial measurements through Kalman filter-based sensor fusion for robust positioning in diverse environments.
GPS provides global positioning at 10Hz, while the IMU offers high-frequency (100Hz) acceleration and angular rate measurements. These are fused to achieve both global accuracy and local smoothness in the position estimate.
Encoder-based wheel odometry provides dead-reckoning position estimates at 50Hz. Combined with the vehicle kinematic model, this serves as the primary short-term position source and drift correction input for the Kalman filter.
EKF fuses GPS, IMU, and odometry into a unified state estimate (position, heading, velocity). The filter handles sensor dropouts gracefully — when GPS is unavailable (tunnels, urban canyons), odometry and IMU maintain continuity until GPS reacquires.