A VisionInertia Integrated Positioning Method Using Position and Orientation Matching
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-05-14
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
A vision/inertia integrated positioning method using position and orientation matching which can be adopted on intelligent vehicle such as automated guided vehicle (AGV) and mobile robot is proposed in this work.
The method is introduced firstly.
Landmarks are placed into the navigation field and camera and inertial measurement unit (IMU) are installed on the vehicle.
Vision processor calculates the azimuth and position information from the pictures which include artificial landmarks with the known direction and position.
Inertial navigation system (INS) calculates the azimuth and position of vehicle in real time and the calculated pixel position of landmark can be computed from the INS output position.
Then the needed mathematical models are established and integrated navigation is implemented by Kalman filter with the observation of azimuth and the calculated pixel position of landmark.
Navigation errors and IMU errors are estimated and compensated in real time so that high precision navigation results can be got.
Finally, simulation and test are performed, respectively.
Both simulation and test results prove that this vision/inertia integrated positioning method using position and orientation matching has feasibility and it can achieve centimeter-level autonomic continuous navigation.
American Psychological Association (APA)
Zhang, Xiaoyue& Huo, Liang. 2017. A VisionInertia Integrated Positioning Method Using Position and Orientation Matching. Mathematical Problems in Engineering،Vol. 2017, no. 2017, pp.1-11.
https://search.emarefa.net/detail/BIM-1191533
Modern Language Association (MLA)
Zhang, Xiaoyue& Huo, Liang. A VisionInertia Integrated Positioning Method Using Position and Orientation Matching. Mathematical Problems in Engineering No. 2017 (2017), pp.1-11.
https://search.emarefa.net/detail/BIM-1191533
American Medical Association (AMA)
Zhang, Xiaoyue& Huo, Liang. A VisionInertia Integrated Positioning Method Using Position and Orientation Matching. Mathematical Problems in Engineering. 2017. Vol. 2017, no. 2017, pp.1-11.
https://search.emarefa.net/detail/BIM-1191533
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1191533