Research on real time 6DOF robot localization based on visual and inertial fusion

被引：0

作者：

Zheng, Xinfang ^{[1
]}

Guo, Yongxiang ^{[1
]}

机构：

[1] Beijing Jiaotong Univ, Sch Elect & Informat Engn, Beijing 100044, Peoples R China

来源：

PROCEEDINGS OF THE 2017 5TH INTERNATIONAL CONFERENCE ON MACHINERY, MATERIALS AND COMPUTING TECHNOLOGY (ICMMCT 2017) | 2017年 / 126卷

关键词：

Robot Location; IMU; Visual Odometry;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

In this paper, first of all, how to realize the real-time positioning of the robot by the inertial sensor was discussed. Secondly, how to realize the real-time positioning of robot by visual sensor was discussed and researched deeply. Finally, combined with low-cost inertial measurement unit (IMU) in the image sampling interval time of the short-term stationarity, the visual odometry method integrating the inertial measurement information was studied in depth. In the study of theory at the same time, experiments on visual robot localization by LIBVISO2 were carried out and the experiments of visual and inertial fusion were carried out. The experimental results are displayed by the visualization tool RVIZ in the Robot Operating System (ROS).

引用

页码：1392 / 1402

页数：11