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 Odometty;
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
收藏
页码：1431 / 1441
页数：11
相关论文
共 50 条
  • [1] Research on real time 6DOF robot localization based on visual and inertial fusion
    Zheng, Xinfang
    Guo, Yongxiang
    PROCEEDINGS OF THE 2017 5TH INTERNATIONAL CONFERENCE ON MACHINERY, MATERIALS AND COMPUTING TECHNOLOGY (ICMMCT 2017), 2017, 126 : 1392 - 1402
  • [2] Research on the 6DOF Robot Simulation and Modeling
    Liu, Zhenyu
    You, Ji
    RESOURCES AND SUSTAINABLE DEVELOPMENT, PTS 1-4, 2013, 734-737 : 2676 - 2680
  • [3] Characteristics based visual servo for 6DOF robot arm control
    Tsuchida, Shinya
    Lu, Huimin
    Kamiya, Tohru
    Serikawa, Seiichi
    Cognitive Robotics, 2021, 1 : 76 - 82
  • [4] Benchmarking 6DOF Outdoor Visual Localization in Changing Conditions
    Sattler, Torsten
    Maddern, Will
    Toft, Carl
    Torii, Akihiko
    Hammarstrand, Lars
    Stenborg, Erik
    Safari, Daniel
    Okutomi, Masatoshi
    Pollefeys, Marc
    Sivic, Josef
    Kahl, Fredrik
    Pajdla, Tomas
    2018 IEEE/CVF CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION (CVPR), 2018, : 8601 - 8610
  • [5] Visual object tracking by a camera mounted on a 6DOF industrial robot
    Aouf, N
    Rajabi, H
    Rajabi, N
    Alanbari, H
    Perron, C
    2004 IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS, VOLS 1 AND 2, 2004, : 213 - 218
  • [6] Data fusion by uncertain projective geometry in 6DoF visual SLAM
    Marzorati, Daniele
    Matteucci, Matteo
    Migliore, Davide
    Sorrenti, Domenico G.
    VISAPP-ROBOTIC PERCEPTION, 2008, : 3 - +
  • [7] Semi-Real Evaluation, and Adaptive Control of a 6DOF Surgical Robot
    Tajdari, Farzam
    Toulkani, Naeim Ebrahimi
    Zhilakzadeh, Nima
    2020 11TH POWER ELECTRONICS, DRIVE SYSTEMS, AND TECHNOLOGIES CONFERENCE (PEDSTC), 2020,
  • [8] Adaptive Gain Control law for Visual Servoing of 6DOF Robot Manipulator
    Krishnan, Megha G.
    Ashok, S.
    2018 INTERNATIONAL CONFERENCE ON CONTROL, POWER, COMMUNICATION AND COMPUTING TECHNOLOGIES (ICCPCCT), 2018, : 57 - 64
  • [9] Real-time Onboard 6DoF Localization of an Indoor MAV in Degraded Visual Environments Using a RGB-D Camera
    Fang, Zheng
    Scherer, Sebastian
    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2015, : 5253 - 5259
  • [10] 6DOF TESTING OF THE SLS INERTIAL NAVIGATION UNIT
    Geohagan, Kevin W.
    Bernard, William P.
    Oliver, T. Emerson
    Strickland, Dennis J.
    Leggett, Jared O.
    GUIDANCE, NAVIGATION, AND CONTROL 2018, PTS I-II: ADVANCES IN THE ASTRONAUTICAL SCIENCES, 2018, 164 : 995 - 1006
12345