Mobile robot indoor dual Kalman filter localisation based on inertial measurement and stereo vision

Mobile robot indoor dual Kalman filter localisation based on inertial measurement and stereo vision

This study presents a novel navigation method designed to support a real-time, efficient, accurate indoor localisation for mobile robot system. It is applicable for inertial measurement units (IMU) consisting of gyroscopes, accelerometers, and magnetic besides stereo vision (SV). The current indoor...

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Bibliographic Details
Main Authors: Lei Cheng, Biao Song, Yating Dai, Huaiyu Wu, Yang Chen
Format: Article
Language:English
Published: Wiley 2019-03-01
Series:CAAI Transactions on Intelligence Technology
Subjects:
sensor fusion
navigation
computer vision
inertial navigation
magnetometers
gyroscopes
indoor radio
mobile robots
robot vision
accelerometers
Kalman filters
stereo image processing
mobile robot indoor dual Kalman filter localisation
stereo vision
novel navigation method
efficient indoor localisation
accurate indoor localisation
mobile robot system
inertial measurement units
current indoor mobile robot localisation technology
traditional active sensing devices
ultrasonic method
low efficiency complex structure
poor anti-interference ability
dual Kalman filter algorithm
mobile robot binocular SV orientation
inertial location
fusing Kalman filter algorithm
magnetometer data
inertial measurement precision
optimised using Kalman filtering algorithm
machine vision localisation algorithm
IMU/SV fusion algorithm
DKF algorithm
SV indoor localisation
Online Access:https://digital-library.theiet.org/content/journals/10.1049/trit.2017.0025

Internet

https://digital-library.theiet.org/content/journals/10.1049/trit.2017.0025

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