Keyframe-Based Tightly-Coupled SLAM with RGBD Camera and IMU

DOI

10.2991/icmmita-16.2016.89How to use a DOI?

Keywords

visual SLAM; IMU; keyframe-based; tightly coupled.

Abstract

In this paper, we propose a novel inertial-assisted slam system intended for low-cost micro aerial vehicles (MAVs). The system sensor assembly consists of color camera, depth camera and a inertial measurement unit (IMU) with three-axis accelerometers/gyroscopes. We use IMU data to enable probability-based predetermined operations rather than hypothesis testing iterations to accelerate pose calculation and obtain its optimal estimation through nonlinear optimization. We illustrate the performance of our system by hovering a MAV in a GPS-denied environment which position accuracy can reach 3.9cm RMSE in a 189 second flight and its robustness is also illustrated in a complex indoor environment.

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/).

Download article (PDF)

TY  - CONF
AU  - Yiming Zhang
AU  - Kui Li
AU  - Wei Wang
PY  - 2017/01
DA  - 2017/01
TI  - Keyframe-Based Tightly-Coupled SLAM with RGBD Camera and IMU
BT  - Proceedings of the 2016 4th International Conference on Machinery, Materials and Information Technology Applications
PB  - Atlantis Press
SP  - 481
EP  - 488
SN  - 2352-538X
UR  - https://doi.org/10.2991/icmmita-16.2016.89
DO  - 10.2991/icmmita-16.2016.89
ID  - Zhang2017/01
ER  -