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

DOI

10.2991/icmmct-17.2017.272How to use a DOI?

Keywords

Robot Location; IMU;Visual Odometry;

Abstract

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).

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Xinfang Zheng
AU  - Yongxiang Guo
PY  - 2017/04
DA  - 2017/04
TI  - Research on real time 6DOF robot localization based on visual and inertial fusion
BT  - Proceedings of the 2017 5th International Conference on Machinery, Materials and Computing Technology (ICMMCT 2017)
PB  - Atlantis Press
SP  - 1431
EP  - 1441
SN  - 2352-5401
UR  - https://doi.org/10.2991/icmmct-17.2017.272
DO  - 10.2991/icmmct-17.2017.272
ID  - Zheng2017/04
ER  -