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- Title
Research on Positioning Method in Underground Complex Environments Based on Fusion of Binocular Vision and IMU.
- Authors
Cheng, Jie; Jin, Yinglian; Zhai, Zhen; Liu, Xiaolong; Zhou, Kun
- Abstract
Aiming at the failure of traditional visual slam localization caused by dynamic target interference and weak texture in underground complexes, an effective robot localization scheme was designed in this paper. Firstly, the Harris algorithm with stronger corner detection ability was used, which further improved the ORB (oriented FAST and rotated BRIEF) algorithm of traditional visual slam. Secondly, the non-uniform rational B-splines algorithm was used to transform the discrete data of inertial measurement unit (IMU) into second-order steerable continuous data, and the visual sensor data were fused with IMU data. Finally, the experimental results under the KITTI dataset, EUROC dataset, and a simulated real scene proved that the method used in this paper has the characteristics of stronger robustness, better localization accuracy, small size of hardware equipment, and low power consumption.
- Subjects
BINOCULAR vision; RESEARCH methodology; UNITS of measurement; SUBWAY stations
- Publication
Sensors (14248220), 2022, Vol 22, Issue 15, p5711
- ISSN
1424-8220
- Publication type
Article
- DOI
10.3390/s22155711