Mobile Robot Localization Based on Vision and Multisensor
Joint Authors
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-06-08
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
To deal with the low accuracy of positioning for mobile robots when only using visual sensors and an IMU, a method based on tight coupling and nonlinear optimization is proposed to obtain a high-precision visual positioning scheme by combining measured value of the preintegrated inertial measurement unit (IMU) and values of the odometer and characteristic observations.
First, the preprocessing part of the observation data includes tracking of the image data and the odometer data, and preintegration of IMU data.
Second, the initialization part of the above three sensors includes IMU preintegration, odometer preintegration, and gyroscope bias calculation.
It also includes the alignment of speed, gravity, and scale.
Finally, a local BA (bundle adjustment) joint optimization and global graph optimization are established, so as to obtain more accurate positioning results.
American Psychological Association (APA)
Yao, Lina& Li, Fengzhe. 2020. Mobile Robot Localization Based on Vision and Multisensor. Journal of Robotics،Vol. 2020, no. 2020, pp.1-11.
https://search.emarefa.net/detail/BIM-1190253
Modern Language Association (MLA)
Yao, Lina& Li, Fengzhe. Mobile Robot Localization Based on Vision and Multisensor. Journal of Robotics No. 2020 (2020), pp.1-11.
https://search.emarefa.net/detail/BIM-1190253
American Medical Association (AMA)
Yao, Lina& Li, Fengzhe. Mobile Robot Localization Based on Vision and Multisensor. Journal of Robotics. 2020. Vol. 2020, no. 2020, pp.1-11.
https://search.emarefa.net/detail/BIM-1190253
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1190253