Study on stereo visual inertial SLAM combining vehicle dynamics

被引：0
|
作者：
Yu Z. [1 ,3 ]
Ju R. [1 ]
Han Y. [1 ]
Zhao J. [2 ]
机构：
[1] School of Electronics and Information Engineering, Tongji University, Shanghai
[2] Nanchang Automotive Innovation Institute, Nanchang
来源：
Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | 2022年 / 50卷 / 11期
关键词：
multi-sensor fusion; pre-integration; simultaneous localization and mapping (SLAM); unmanned ground vehicle localization; vehicle dynamics;
D O I：
10.13245/j.hust.220509
中图分类号：
学科分类号：
摘要：
Aiming at the problem of low accuracy of unmanned vehicle visual simultaneous land and mapping (SLAM) in underground garage，a pre-integration method combining inertial measurement unit (IMU) gyroscope measurement and vehicle dynamics measurement was proposed． The rotation pre-integration was performed at IMU frequency，and the translation pre-integration was performed at vehicle dynamics measurement frequency． The gyroscope measurement was introduced into the calculation of translation pre-integration，so that it could express non planar motion．First，the pre-integration equation，Jacobian matrix and noise state transition equation were derived by Lie algebra and rotation group．Then，based on this pre-integration，the vehicle dynamics information was incorporated into the stereo visual inertial SLAM，so as to improve the accuracy．Experiment of underground garage show that the proposed method improves the average accuracy of the stereo visual inertial ORB-SLAM3 by 32%. © 2022 Huazhong University of Science and Technology. All rights reserved.
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页码：85 / 89and95
页数：8910
相关论文
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