Handheld Device Design for Robotic Teleoperation based on Multi-Sensor Fusion

被引：0

作者：

Xie, Lingzi ^{[1
]}

Huang, Darong ^{[1
]}

Lu, Zhenyu ^{[2
]}

Wang, Ning ^{[2
]}

Yang, Chenguang ^{[2
]}

机构：

[1] South China Univ Technol, Coll Automat Sci & Engn, Guangzhou 510640, Peoples R China

[2] Univ West England, Bristol Robot Lab, Bristol BS16 1QY, England

来源：

2023 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS, ICM | 2023年

基金：

欧盟地平线“2020”;

关键词：

Teleoperation; Handheld device; Visual-Inertial fusion; Error State Kalman Filter; SYSTEM; MARKERS; MOTION;

D O I：

10.1109/ICM54990.2023.10102054

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Precise leader-follower control is critical for teleoperation. This paper designs and implements a low-cost leader device for unilateral teleoperation scenario. Monocular vision based on fiducial markers and MEMS Inertial Measurement Unit (IMU) are utilized to constitute the pose sensing system of the handheld device. To increase the positioning output frequency and deal with the motion blur of the fiducial markers, the IMU data and vision message are fused by an Error State Kalman Filter (ESKF). An assembly experiment was carried out to verify the effectiveness of the proposed device and the feasibility of the fusion algorithm.

引用

页数：6

共 50 条

[1] Design and Implementation of Internet of Things Based Multi-sensor Device
Khamitkar, Ravikant
Valsangkar, Farid
[J]. COMPUTING, COMMUNICATION AND SIGNAL PROCESSING, ICCASP 2018, 2019, 810 : 157 - 163
[2] Handheld Multi-Sensor System Design Dedicated to Mine Detection
Sezgin, Mehmet
Cayir, Mustafa
Dogru, Mustafa
Dag, Mahmut
Nazli, Hakki
Ozkan, Ersin
Yaldiz, Ferhat
Bicak, Emrullah
Ozturk, Hilmi
Kaplaner, Ahmet
[J]. DETECTION AND SENSING OF MINES, EXPLOSIVE OBJECTS, AND OBSCURED TARGETS XVI, 2011, 8017
[3] Probabilistic Multi-Sensor Fusion Based Indoor Positioning System on a Mobile Device
He, Xiang
Aloi, Daniel N.
Li, Jia
[J]. SENSORS, 2015, 15 (12) : 31464 - 31481
[4] The Design of Multi-sensor Flame Detector Based on Information Fusion Technology
Sun, Tao
Ding, Lili
[J]. 2009 INTERNATIONAL SYMPOSIUM ON INTELLIGENT INFORMATION SYSTEMS AND APPLICATIONS, PROCEEDINGS, 2009, : 228 - 230
[5] Design of The Multi-sensor Target Tracking System based on Data Fusion
Yao, Yachuan
Yao, Yi
Zhang, Renyi
Han, Qiang
[J]. ADVANCED RESEARCH ON INFORMATION SCIENCE, AUTOMATION AND MATERIAL SYSTEM, PTS 1-6, 2011, 219-220 : 1407 - +
[6] Global and Local Path Planning on Robotic Wheelchair Based on Multi-sensor Information Fusion
Wang, Fang
Zhang, Jian-Guo
Song, Hai-Yan
[J]. ENGINEERING SOLUTIONS FOR MANUFACTURING PROCESSES, PTS 1-3, 2013, 655-657 : 1145 - 1148
[7] UAV Positioning Based on Multi-Sensor Fusion
Peng, Jing
Zhang, Ping
Zheng, Lanxiang
Tan, Jia
[J]. IEEE ACCESS, 2020, 8 : 34455 - 34467
[8] Detection of Fire Based On Multi-Sensor Fusion
Liu Weili
Wang Fan
Hu Xiaopeng
Yang Yan
[J]. 2011 INTERNATIONAL CONFERENCE ON COMPUTER SCIENCE AND NETWORK TECHNOLOGY (ICCSNT), VOLS 1-4, 2012, : 223 - 227
[9] Sensor Fusion-Based Teleoperation Control of Anthropomorphic Robotic Arm
Yang, Xiaolong
Chen, Furong
Wang, Feilong
Zheng, Long
Wang, Shukun
Qi, Wen
Su, Hang
[J]. BIOMIMETICS, 2023, 8 (02)
[10] Profiler design with multi-sensor data fusion methods
Lin, Jium-Ming
Line, Jiea-Chie
[J]. PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-8, 2007, : 707 - +

← 1 2 3 4 5 →