| 室内移动机器人的视觉惯性组合定位研究 |
| |
| 引用本文： | 汪志刚,郭杭,敖龙辉.室内移动机器人的视觉惯性组合定位研究[J].科学技术与工程,2021,21(2):623-628. |
| |
| 作者姓名： | 汪志刚 郭杭 敖龙辉 |
| |
| 作者单位： | 南昌大学信息工程学院,南昌330031;南昌大学信息工程学院,南昌330031;南昌大学信息工程学院,南昌330031 |
| |
| 基金项目： | 鄱阳湖地区高精度远程GNSS动态定位研究 |
| |
| 摘 要： | 针对在室内环境下移动机器人无法利用全球定位系统(global positioning system,GPS)进行精确的定位问题,提出一种紧耦合的视觉惯性组合定位方法,运用了预积分、联合初始化、边缘化等关键技术,并提出一种新的基于Vicon的惯性测量单元(inertial measurement unit,IMU)内参标定方法.通过EuRoc数据集实验,验证了新的标定方法能提供鲁棒的IMU内参初值;模拟室内场景的测试结果表明,定位结果具有很高的准确性与稳定性,定位误差可控制在0.1 m以内.
|
| 关 键 词： | 预积分 联合初始化 惯性测量单元(IMU)内参标定 边缘化 视觉惯性组合定位 |
| 收稿时间： | 2020/4/16 0:00:00 |
| 修稿时间： | 2020/10/13 0:00:00 |
Research on Visual Inertial Combination Positioning of Indoor Mobile Robot |
| |
| Wang Zhigang,Guo Hang,Ao Longhui.Research on Visual Inertial Combination Positioning of Indoor Mobile Robot[J].Science Technology and Engineering,2021,21(2):623-628. |
| |
| Authors: | Wang Zhigang Guo Hang Ao Longhui |
| |
| Institution: | College of Information Engineering, Nanchang University |
| |
| Abstract: | Abstract: Aiming at the problem that mobile robots cannot use GPS for accurate positioning in an indoor environment, a tightly coupled visual inertial integrated location method is proposed. This method uses key techniques such as pre-integration, joint initialization, and marginalization, and proposes a new Vicon-based IMU internal calibration method. Firstly, through EuRoc data set experiments, it is verified that the new calibration method can provide a robust initial value of IMU internal parameters. Secondly, the test results of simulated indoor scenes show that the positioning results of this method have high accuracy and stability. The positioning error can be controlled within 0.1 meters. |
| |
| Keywords: | pre-integration joint initialization IMU internal calibration marginalization Visual inertial combination positioning |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
| 点击此处可从《科学技术与工程》浏览原始摘要信息 |
| 点击此处可从《科学技术与工程》下载免费的PDF全文 |
|
