تقرير
Improved Visual-Inertial Localization for Low-cost Rescue Robots
| العنوان: | Improved Visual-Inertial Localization for Low-cost Rescue Robots |
|---|---|
| المؤلفون: | Long, Xiaoling, Xu, Qingwen, Yuan, Yijun, He, Zhenpeng, Schwertfeger, Sören |
| سنة النشر: | 2020 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics |
| الوصف: | This paper improves visual-inertial systems to boost the localization accuracy for low-cost rescue robots. When robots traverse on rugged terrain, the performance of pose estimation suffers from big noise on the measurements of the inertial sensors due to ground contact forces, especially for low-cost sensors. Therefore, we propose \textit{Threshold}-based and \textit{Dynamic Time Warping}-based methods to detect abnormal measurements and mitigate such faults. The two methods are embedded into the popular VINS-Mono system to evaluate their performance. Experiments are performed on simulation and real robot data, which show that both methods increase the pose estimation accuracy. Moreover, the \textit{Threshold}-based method performs better when the noise is small and the \textit{Dynamic Time Warping}-based one shows greater potential on large noise. Comment: accepted by IFAC World Congress 2020 |
| نوع الوثيقة: | Working Paper |
| URL الوصول: | http://arxiv.org/abs/2011.08418 |
| رقم الأكسشن: | edsarx.2011.08418 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |